Robot arm path planning using modified particle swarm optimization based on D* algorithm
Other Title(s)
تخطيط المسار لذراع الروبوت باستخدام تقنية سرب الطيور المعدلة اعتمادا على خوارزمية D
Joint Authors
Abbas, Nur al-Huda Fadl
al-Ubaydi, Ahmad Tariq Sadiq
Rahim, Firas Abd al-Razzaq
Source
al-Khwarizmi Engineering Journal
Issue
Vol. 13, Issue 3 (30 Sep. 2017), pp.27-37, 11 p.
Publisher
University of Baghdad al-Khwarizmi College of Engineering
Publication Date
2017-09-30
Country of Publication
Iraq
No. of Pages
11
Main Subjects
Information Technology and Computer Science
Topics
Abstract EN
Much attention has been paid for the use of robot arm in various applications.
Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement.
The essential function of path planning is to create a path that satisfies the aims of motion including, averting obstacles collision, reducing time interval, decreasing the path traveling cost and satisfying the kinematics constraints.
In this paper, the free Cartesian space map of 2-DOF arm is constructed to attain the joints variable at each point without collision.
The D*algorithm and Euclidean distance are applied to obtain the exact and estimated distances to the goal respectively.
The modified Particle Swarm Optimization algorithm is proposed to find an optimal path based on the local search, D* and Euclidean distances.
The quintic polynomial equation is utilized to provide a smooth trajectory path.
According to the observe results, the modified PSO algorithm is efficiently performs to find an optimal path even in difficult environments.
American Psychological Association (APA)
al-Ubaydi, Ahmad Tariq Sadiq& Rahim, Firas Abd al-Razzaq& Abbas, Nur al-Huda Fadl. 2017. Robot arm path planning using modified particle swarm optimization based on D* algorithm. al-Khwarizmi Engineering Journal،Vol. 13, no. 3, pp.27-37.
https://search.emarefa.net/detail/BIM-767653
Modern Language Association (MLA)
al-Ubaydi, Ahmad Tariq Sadiq…[et al.]. Robot arm path planning using modified particle swarm optimization based on D* algorithm. al-Khwarizmi Engineering Journal Vol. 13, no. 3 (2017), pp.27-37.
https://search.emarefa.net/detail/BIM-767653
American Medical Association (AMA)
al-Ubaydi, Ahmad Tariq Sadiq& Rahim, Firas Abd al-Razzaq& Abbas, Nur al-Huda Fadl. Robot arm path planning using modified particle swarm optimization based on D* algorithm. al-Khwarizmi Engineering Journal. 2017. Vol. 13, no. 3, pp.27-37.
https://search.emarefa.net/detail/BIM-767653
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 36
Record ID
BIM-767653