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Foot trajectory planning of creeping robot with improved fruit fly optimization algorithm. (Chinese. English summary) Zbl 1463.68117

Summary: An improved fruit fly optimization algorithm (FOA) is proposed to optimize the multi-dimensional and complex foot trajectory planning problem of creeping robot. Firstly, the foot trajectory model of the joint space of the robot is established and a piecewise polynomial curve trajectory planning method is proposed. At the same time, the adaptive step size is introduced into the FOA and the algorithm is integrated with the explosion operation of the fireworks algorithm. The foot trajectory example is given to verify the improved FOA with the goal of the shortest time consuming. The results show that the algorithm is feasible and effective, and the optimization results are better than those of the standard FOA.

MSC:

68T40 Artificial intelligence for robotics
68W50 Evolutionary algorithms, genetic algorithms (computational aspects)
90C59 Approximation methods and heuristics in mathematical programming
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