A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGA
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-thread...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2020/6859589 |
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| author | Kaipeng Zhang Ning Liu Gao Wang |
| author_facet | Kaipeng Zhang Ning Liu Gao Wang |
| author_sort | Kaipeng Zhang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-ee73397089f14e0c86c06fb1382a56df |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-ee73397089f14e0c86c06fb1382a56df2025-02-03T01:05:21ZengWileyJournal of Robotics1687-96001687-96192020-01-01202010.1155/2020/68595896859589A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGAKaipeng Zhang0Ning Liu1Gao Wang2College of Information Science and Technology, Jinan University, Guangzhou 510632, ChinaCollege of Information Science and Technology, Jinan University, Guangzhou 510632, ChinaCollege of Information Science and Technology, Jinan University, Guangzhou 510632, ChinaTo 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.http://dx.doi.org/10.1155/2020/6859589 |
| spellingShingle | Kaipeng Zhang Ning Liu Gao Wang A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGA Journal of Robotics |
| title | A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGA |
| title_full | A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGA |
| title_fullStr | A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGA |
| title_full_unstemmed | A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGA |
| title_short | A Dual-Thread Method for Time-Optimal Trajectory Planning in Joint Space Based on Improved NGA |
| title_sort | dual thread method for time optimal trajectory planning in joint space based on improved nga |
| url | http://dx.doi.org/10.1155/2020/6859589 |
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