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- Title
A Hybrid Improved-Whale-Optimization–Simulated-Annealing Algorithm for Trajectory Planning of Quadruped Robots.
- Authors
Xu, Ruoyu; Zhao, Chunhui; Li, Jiaxing; Hu, Jinwen; Hou, Xiaolei
- Abstract
Traditional trajectory-planning methods are unable to achieve time optimization, resulting in slow response times to unexpected situations. To address this issue and improve the smoothness of joint trajectories and the movement time of quadruped robots, we propose a trajectory-planning method based on time optimization. This approach improves the whale optimization algorithm with simulated annealing (IWOA-SA) together with adaptive weights to prevent the whale optimization algorithm (WOA) from falling into local optima and to balance its exploration and exploitation abilities. We also use Markov chains of stochastic process theory to analyze the global convergence of the proposed algorithm. The results show that our optimization algorithm has stronger optimization ability and stability when compared to six representative algorithms using six different test function suites in multiple dimensions. Additionally, the proposed optimization algorithm consistently constrains the angular velocity of each joint within the range of kinematic constraints and reduces joint running time by approximately 6.25%, which indicates the effectiveness of this algorithm.
- Subjects
METAHEURISTIC algorithms; OPTIMIZATION algorithms; SIMULATED annealing; ALGORITHMS; ANGULAR velocity; RANGE of motion of joints; MOBILE robots
- Publication
Electronics (2079-9292), 2023, Vol 12, Issue 7, p1564
- ISSN
2079-9292
- Publication type
Article
- DOI
10.3390/electronics12071564