南方科技大学知识苑(SUSTech KC): Trajectory Planning of Aerial Robotic Manipulator Using Hybrid Particle Swarm Optimization

题名	Trajectory Planning of Aerial Robotic Manipulator Using Hybrid Particle Swarm Optimization
作者	Zhao，Suping 1,2; Chen，Chaobo 1,2; Li，Jichao 1,2; Gao，Song 1,2; Guo，Xinxin3
通讯作者	Chen，Chaobo; Gao，Song
发表日期	2022-11-01
DOI	10.3390/app122110892
发表期刊	Applied Sciences (Switzerland) 影响因子和分区
EISSN	2076-3417
卷号	12 期号:21
摘要	The trajectory planning of an aerial robotic manipulator system is studied using Hybrid Particle Swarm Optimization (HPSO). The aerial robotic manipulator is composed of an unmanned aerial vehicle (UAV) base and a robotic manipulator. The robotic manipulator is dynamically singular. In addition, strong coupling exists between the UAV base and the robotic manipulator. To overcome the problems, the trajectory planning is studied in the join space using HPSO. HPSO combines superiorities of PSO and GA (Genetic Algorithm), prohibiting particles from becoming trapped in a local minimum. In addition, the control parameters are self-adaptive and contribute to fast searching for the global optimum. The trajectory planning problem is converted into a parameter optimization problem. Each joint trajectory is parameterized with a Bézier curve. The HPSO is implemented to optimize joint trajectories, satisfying specific objectives and imposed constraints. Numerical simulations are also carried out to validate the effectiveness of the proposed method.
关键词	aerial robotic manipulator Bézier curve particle swarm optimization unmanned aerial vehicle
相关链接	[Scopus记录]
收录类别	SCI
语种	英语
学校署名	其他
资助项目	China Postdoctoral Science Foundation[2021M701548];National Natural Science Foundation of China[62103182];
WOS记录号	WOS:000880965200001
Scopus记录号	2-s2.0-85141845351
来源库	Scopus
引用统计	被引频次[WOS]：1
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/411807
专题	工学院_机械与能源工程系
作者单位	1.Autonomous Unmanned Systems Research Laboratory,Xi’an Technological University,Xi’an,710021,China 2.School of Electronic Information Engineering,Xi’an Technological University,Xi’an,710021,China 3.Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,518005,China
推荐引用方式 GB/T 7714	Zhao，Suping,Chen，Chaobo,Li，Jichao,et al. Trajectory Planning of Aerial Robotic Manipulator Using Hybrid Particle Swarm Optimization[J]. Applied Sciences (Switzerland),2022,12(21).
APA	Zhao，Suping,Chen，Chaobo,Li，Jichao,Gao，Song,&Guo，Xinxin.(2022).Trajectory Planning of Aerial Robotic Manipulator Using Hybrid Particle Swarm Optimization.Applied Sciences (Switzerland),12(21).
MLA	Zhao，Suping,et al."Trajectory Planning of Aerial Robotic Manipulator Using Hybrid Particle Swarm Optimization".Applied Sciences (Switzerland) 12.21(2022).