Using biased randomization for trajectory optimization in robotic manipulators
| dc.contributor.author | Agustín Martín, Alba | |
| dc.contributor.author | Olivares, Alberto | |
| dc.contributor.author | Staffetti, Ernesto | |
| dc.contributor.department | Estadística e Investigación Operativa | es_ES |
| dc.contributor.department | Estatistika eta Ikerketa Operatiboa | eu |
| dc.date.accessioned | 2023-09-11T09:33:19Z | |
| dc.date.available | 2023-09-11T09:33:19Z | |
| dc.date.issued | 2016 | |
| dc.date.updated | 2023-09-11T08:31:21Z | |
| dc.description.abstract | 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. | en |
| dc.description.sponsorship | 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). | en |
| dc.format.mimetype | application/pdf | en |
| dc.identifier.citation | Agustín, A., Olivares, A., Staffetti, E. (2016) Using biased randomization for trajectory optimization in robotic manipulators. En León, R., Muñoz-Torres, M. J., Moneva J. M. (Eds.), Modeling and Simulation in Engineering, Economics and Management: International Conference, MS 2016: proceedings (pp. 145-154). Springer. https://doi.org/10.1007/978-3-319-40506-3_15. | en |
| dc.identifier.doi | 10.1007/978-3-319-40506-3_15 | |
| dc.identifier.isbn | 978-3-319-40505-6 | |
| dc.identifier.uri | https://academica-e.unavarra.es/handle/2454/46258 | |
| dc.language.iso | eng | en |
| dc.publisher | Springer | en |
| dc.relation.ispartof | 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 | en |
| dc.relation.projectID | info:eu-repo/grantAgreement/MINECO//TRA2013-48180-C3-1-P/ES/ | |
| dc.relation.projectID | info:eu-repo/grantAgreement/MINECO//TRA2015-71883-REDT/ES/ | |
| dc.relation.publisherversion | https://doi.org/10.1007/978-3-319-40506-3_15 | |
| dc.rights | © 2016 Springer International Publishing Switzerland | en |
| dc.rights.accessRights | info:eu-repo/semantics/openAccess | |
| dc.subject | Robotics | en |
| dc.subject | Optimal control | en |
| dc.subject | Motion planning | en |
| dc.subject | Meta-heuristics | en |
| dc.subject | Biased-randomization | en |
| dc.title | Using biased randomization for trajectory optimization in robotic manipulators | en |
| dc.type | info:eu-repo/semantics/conferenceObject | |
| dc.type.version | info:eu-repo/semantics/acceptedVersion | |
| dspace.entity.type | Publication | |
| relation.isAuthorOfPublication | 4fe81952-0641-4201-878d-bfa374ede534 | |
| relation.isAuthorOfPublication.latestForDiscovery | 4fe81952-0641-4201-878d-bfa374ede534 |