TY - GEN
T1 - Multi-objective optimal trajectory planning of space robot using particle swarm optimization
AU - Huang, Panfeng
AU - Liu, Gang
AU - Yuan, Jianping
AU - Xu, Yangsheng
PY - 2008
Y1 - 2008
N2 - Space robots are playing significant roles in the maintenance and repair of space station and satellites and other future space services. The motion trajectory planning is a key problem for accomplishing above missions. In order to obtain the high efficiency, safety motion trajectory of space robot, the motion trajectory should be optimized in advance. This paper describes the multi-objective optimization for optimizing the motion trajectory of space robot using a multi-objective particle swarm optimization (MOPSO). In this formulation, the multi-objective function is generated which includes some parameters such as motion time, dynamic disturbance, and jerk, and so on. Then a number of relative parameters can be simultaneously optimized through searching in the parameter space using MOPSO algorithms. The simulation results attest that MOPSO algorithm has satisfactory performance and real value in fact.
AB - Space robots are playing significant roles in the maintenance and repair of space station and satellites and other future space services. The motion trajectory planning is a key problem for accomplishing above missions. In order to obtain the high efficiency, safety motion trajectory of space robot, the motion trajectory should be optimized in advance. This paper describes the multi-objective optimization for optimizing the motion trajectory of space robot using a multi-objective particle swarm optimization (MOPSO). In this formulation, the multi-objective function is generated which includes some parameters such as motion time, dynamic disturbance, and jerk, and so on. Then a number of relative parameters can be simultaneously optimized through searching in the parameter space using MOPSO algorithms. The simulation results attest that MOPSO algorithm has satisfactory performance and real value in fact.
UR - http://www.scopus.com/inward/record.url?scp=58849097997&partnerID=8YFLogxK
U2 - 10.1007/978-3-540-87734-9_20
DO - 10.1007/978-3-540-87734-9_20
M3 - 会议稿件
AN - SCOPUS:58849097997
SN - 3540877339
SN - 9783540877332
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 171
EP - 179
BT - Advances in Neural Networks - ISNN 2008 - 5th International Symposium on Neural Networks, ISNN 2008, Proceedings
PB - Springer Verlag
T2 - 5th International Symposium on Neural Networks, ISNN 2008
Y2 - 24 September 2008 through 28 September 2008
ER -