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Agustín Martín, Alba

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Agustín Martín

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Alba

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Estadística, Informática y Matemáticas

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0000-0001-9173-1906

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810167

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Subject: Biased-randomization ×

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    PublicationOpen Access
    Using biased randomization for trajectory optimization in robotic manipulators
    (Springer, 2016) Agustín Martín, Alba; Olivares, Alberto; Staffetti, Ernesto; Estadística e Investigación Operativa; Estatistika eta Ikerketa Operatiboa
    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.