Trajectory Planning of Underwater Robot Foot Based on Improved Particle Swarm Optimization
Regarding the high order of polynomial interpolation trajectory planning and the large amount of optimization operations in the face of multiple constraints,a 5-time polynomial interpolation trajectory planning algorithm based on an improved particle swarm optimization method in the joint space of underwater robots with the goal of time optimality is proposed.With the leg water resistance coefficient calculated by Fluent,a number of constraint equations are established.The search target is changed to reduce the search dimension and calculation amount.Compared with standard particle swarm optimization,the improved particle swarm optimization is trade-off between global convergence and computation speed.The angle,angular velocity and angular acceleration curves of each joint are obtained by simulation experiments,which verifies the feasibility and effectiveness of the proposed method.
国家科技期刊平台
NSTL
万方数据
