Using biased randomization for trajectory optimization in robotic manipulators
Fecha
2016Versión
Acceso abierto / Sarbide irekia
Tipo
Contribución a congreso / Biltzarrerako ekarpena
Versión
Versión aceptada / Onetsi den bertsioa
Impacto
|
10.1007/978-3-319-40506-3_15
Resumen
We study the problem of optimization of trajectories for a robotic manipulator, with two degrees of freedom, which is constrained to pass through a set of waypoints in the workspace. The aim is to determine the optimal sequence of points and continuous optimal system trajectory. The actual formulation involves an optimal control problem of a dynamic system within integer variables that model the ...
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We study the problem of optimization of trajectories for a robotic manipulator, with two degrees of freedom, which is constrained to pass through a set of waypoints in the workspace. The aim is to determine the optimal sequence of points and continuous optimal system trajectory. The actual formulation involves an optimal control problem of a dynamic system within integer variables that model the waypoints constrains. The nature of this problem, highly nonlinear and combinatorial, makes it particularly difficult to solve. The proposed method combines a meta-heuristic algorithm to determine the promising sequence of discrete points with a collocation technique to optimize the continuous path of the system. This method does not guarantee the global optimum, but can solve instances of dozens of points in reasonable computation time. [--]
Materias
Robotics,
Optimal control,
Motion planning,
Meta-heuristics,
Biased-randomization
Editor
Springer
Publicado en
León, R.; Muñoz-Torres, M. J.; Moneva, J. M. (Eds.). Modeling and Simulation in Engineering, Economics and Management: International Conference, MS 2016: proceedings. Berlín: Springer; 2016. p.145-154 978-3-319-40505-6
Departamento
Universidad Pública de Navarra. Departamento de Estadística e Investigación Operativa /
Nafarroako Unibertsitate Publikoa. Estatistika eta Ikerketa Operatiboa Saila
Versión del editor
Entidades Financiadoras
This work has been partially supported by the Spanish Ministry of Economy and Competitiveness (TRA2013-48180-C3-P and TRA2015-71883-REDT), FEDER, and the Catalan Government (2014-CTP-00001).