Path Planning of 6-DOF Manipulator Based on Improved Butterfly Search Algorithm
Aiming at the problems of current mainstream path planning algorithms such as RRT algorithm,butterfly algorithm,arti-ficial potential field method,such as low optimization accuracy,slow convergence speed in global search,and local optimal solution in local search,an improved butterfly search algorithm was proposed.Cubic mapping was added to the basic butterfly algorithm during pop-ulation initialization,nonlinear inertia weight coefficients were added to the global and local search,salp group algorithm was integrated,Cauchy mutation was added after the optimal solution was determined,so as to improve the convergence speed and optimization accura-cy.The 3D model of a 6-DOF manipulator and the 3D space obstacle was constructed by MATLAB,and simulation experiments were conducted.The simulation results show that the improved butterfly algorithm enhances the convergence speed and optimization accuracy.Finally,the real machine experiments were made.It shows that the improved butterfly algorithm can be used to quickly achieve path planning for the manipulator.
6-DOF manipulatorbutterfly algorithmsalp group algorithmCubic mappingCauchy mutationpath planning
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