摘要
提出一种基于GA和SQP求解机械臂最优运动规划问题的混合算法.首先采用B样条函数逼近关节运动轨迹,将最优控制问题转化为有约束的非线性规划问题,然后引入基于种群的GA算法,给出全局最优解的初始估计;最后利用序列二次规划(SQP)得到高精度全局最优解.仿真结果表明该方法优于单纯的GA或SQP方法.
A hybrid optimization algorithm integrating GA and SQP is presented to address the motion planning problem of robot arms. With the joint trajectories approximated using B-spline function, the motion planning is transformed into a constrained non-linear programming problem. A group-based GA is then introduced to solve the optimization problem so as to achieve an initial estimation of the global extremum. Based on the estimation, a SQP optimizer is employed to search the accurate optimal solution with rapid convergent rate. Simulation verifies the advantages of using such hybrid method compared with using GA or SQP technique separately.
出处
《控制与决策》
EI
CSCD
北大核心
2004年第1期102-104,107,共4页
Control and Decision
