ArticleFrontiers in bioengineering and biotechnology2022
Time Optimal Trajectory Planing Based on Improved Sparrow Search Algorithm.
Article in Frontiers in bioengineering and biotechnology, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 18 papers.
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Who cites it
18 citing papers in PubMed.
- Time-optimal trajectory planning algorithm for robotic arms based on ADFMSSA chaotic optimization.Scientific reports · 2026Article
- A Gaussian convolutional optimization algorithm with tent chaotic mapping.Scientific reports · 2024Article
- Local Path Planning for Mobile Robots Based on Fuzzy Dynamic Window Algorithm.Sensors (Basel, Switzerland) · 2023Article
- Reinforcement learning based variable damping control of wearable robotic limbs for maintaining astronaut pose during extravehicular activity.Frontiers in neurorobotics · 2023Article
- Multi-Objective Location and Mapping Based on Deep Learning and Visual Slam.Sensors (Basel, Switzerland) · 2022Article
- Energy Saving Planner Model via Differential Evolutionary Algorithm for Bionic Palletizing Robot.Sensors (Basel, Switzerland) · 2022Article
- Improved Multi-Stream Convolutional Block Attention Module for sEMG-Based Gesture Recognition.Frontiers in bioengineering and biotechnology · 2022Article
- Multi-Objective Optimization Design of Ladle Refractory Lining Based on Genetic Algorithm.Frontiers in bioengineering and biotechnology · 2022Article
- Path Planning Optimization of Intelligent Vehicle Based on Improved Genetic and Ant Colony Hybrid Algorithm.Frontiers in bioengineering and biotechnology · 2022Article
- Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC.Frontiers in bioengineering and biotechnology · 2022Article
- Real-Time Target Detection Method Based on Lightweight Convolutional Neural Network.Frontiers in bioengineering and biotechnology · 2022Article
- Traffic flow prediction using bi-directional gated recurrent unit method.Urban informatics · 2022Article
- Surface Defect Segmentation Algorithm of Steel Plate Based on Geometric Median Filter Pruning.Frontiers in bioengineering and biotechnology · 2022Article
- Photoelastic Stress Field Recovery Using Deep Convolutional Neural Network.Frontiers in bioengineering and biotechnology · 2022Article
- Low-Illumination Image Enhancement Algorithm Based on Improved Multi-Scale Retinex and ABC Algorithm Optimization.Frontiers in bioengineering and biotechnology · 2022Article
- Spider-Inspired HCCapture: Beware That What You Are Writing on Mobile Devices Is Becoming Prey for Spiders.Frontiers in bioengineering and biotechnology · 2022Article
- A Tandem Robotic Arm Inverse Kinematic Solution Based on an Improved Particle Swarm Algorithm.Frontiers in bioengineering and biotechnology · 2022Article
- Multi-Scale Feature Fusion Convolutional Neural Network for Indoor Small Target Detection.Frontiers in neurorobotics · 2022Article
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10 authors.
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Abstract
Complete trajectory planning includes path planning, inverse solution solving and trajectory optimization. In this paper, a highly smooth and time-saving approach to trajectory planning is obtained by improving the kinematic and optimization algorithms for the time-optimal trajectory planning problem. By partitioning the joint space, the paper obtains an inverse solution calculation based on the partitioning of the joint space, saving 40% of the inverse kinematics solution time. This means that a large number of computational resources can be saved in trajectory planning. In addition, an improved sparrow search algorithm (SSA) is proposed to complete the solution of the time-optimal trajectory. A Tent chaotic mapping was used to optimize the way of generating initial populations. The algorithm was further improved by combining it with an adaptive step factor. The experiments demonstrated the performance of the improved SSA. The robot's trajectory is further optimized in time by an improved sparrow search algorithm. Experimental results show that the method can improve convergence speed and global search capability and ensure smooth trajectories.
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