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基于积式决策的全方位移动双臂机器人连续轨迹任务多目标规划

Changwu Qiu,Longmei Wang,Yanwen Huang

Jiqiren/Robot（2013）

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Abstract
OMDAR(全方位移动双臂机器人)的运动规划算法需要同时兼顾不同类型、量纲、幅值等多重优化目标.本文分析了受约束OMDAR系统的多目标运动规划任务的数学建模与求解方法.在积式决策多目标优化算法框架下,将OMDAR系统连续轨迹运动规划需求与相关约束建模为乘积形式单一优化目标函数,采用高斯巡游粒子群优化算法(GR-PSO),可靠有效地实现了问题的求解.同时,将GR-PSO算法与经典非线性优化SQP算法进行对比,以9重目标优化导引下的连续轨迹路径规划为实例,证明了GR-PSO算法的有效性与优势.
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Key words
Multi-objective,Particle swarm optimization,Product arbitration,Trajectory planning
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