Obstacle-Avoidance Trajectory Planning of Manipulator Based on Grey Wolf Optimization Algorithm
Aiming at the requirement that each link of the robot arm can achieve global obstacle avoidance in the trajectory planning problem of the robot arm,a method for obstacle avoidance trajectory planning of the robot arm based on the Grey Wolf optimization algorithm is proposed.Firstly,the envelope model of the obstacle and the robot arm is simplified,and the collision detection problem is transformed into a problem of calculating whether the distance between the spherical center of the obstacle envelope model and the centerline of each connecting rod is too large,and the parametric equation method is used to solve the problem.Secondly,a polynomial with undetermined sixth order coefficients is used for trajectory planning,and the trajectory curve is adjusted by adjusting the sixth order coefficients to meet the obstacle avoidance requirements.Finally,based on the collision results and other kinematic indicators,a fitness function is constructed after weighting and iterative optimization is performed using the Grey Wolf optimization algorithm to obtain the parameters corresponding to the optimal trajectory.The simulation results on the MATLAB platform show that the method can plan a smooth trajectory that meets the collision free requirements of each link of the robot arm.
mechanical armavoid obstaclestrajectory planningGrey Wolf optimization algorithm
万方数据
维普
