A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGA
Joint Authors
Wang, Gao
Zhang, Kaipeng
Liu, Ning
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-02-15
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
To solve the problem that the time-consuming optimization process of Genetic Algorithm (GA) can erode the expected time-saving brought by the algorithm, time-optimal trajectory planning based on cubic spline was used, after the modification to classical fitness sharing function of NGA, a dual-threaded method utilizing elite strategy characteristic was designed which was based on Niche Genetic Algorithm (NGA) with the fitness sharing technique.
The simulation results show that the proposed method can mitigate the contradiction of the long term the optimization algorithm takes but a short running time the trajectory gets, demonstrating the effectiveness of the proposed method.
Besides, the improved fitness sharing technique has reduced the subjective process of determining relevant parameters and the optimized trajectory results met performance constraints of the robot joints.
American Psychological Association (APA)
Zhang, Kaipeng& Liu, Ning& Wang, Gao. 2020. A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGA. Journal of Robotics،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1190236
Modern Language Association (MLA)
Zhang, Kaipeng…[et al.]. A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGA. Journal of Robotics No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1190236
American Medical Association (AMA)
Zhang, Kaipeng& Liu, Ning& Wang, Gao. A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGA. Journal of Robotics. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1190236
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190236