Trajectory optimization for manipulators based on external archives self-searching multi-objective particle swarm optimization

摘要

In order to improve the quality of the non-inferior solutions obtained by multi-objective particle swarm optimization (MOPSO), an improved algorithm called external archives self-searching multi-objective particle swarm optimization (EASS-MOPSO) was proposed and applied to a multi-objective trajectory optimization problem for manipulators. The position curves of joints were constructed by using quartic B-splines; the mathematical models of time, energy and jerk optimization objectives for manipulators were established; and the kinematic constraints of joints were transformed into the constraints of the control vertexes of the B-splines. A self-searching strategy of external archives to make non-inferior solutions have the ability to search the surrounding hyperspace was explored, and a diversity maintaining strategy of the external archives was proposed. The results of several test functions by simulation show that the convergence and diversity of the proposed algorithm are better than those of other 4 selected algorithms; the results of the trajectory optimization problem for manipulators by simulation show that the convergence, diversity and time consumption of the proposed algorithm are significantly better than those of non-dominated sorting genetic algorithm.