基于积式决策的全方位移动双臂机器人连续轨迹任务多目标规划.PDF

35 2 ROBOT Vol.35, No.2 2013 3 Mar., 2013 DOI 10.3724/SP.J.1218.2013.00178 12 3 24 1. 200240 2. 200125 3. 201203 4. 200240 OMDAR OMDAR OMDAR GR-PSO GR-PSO SQP 9 GR-PSO TP24 B 1002-0446(2013)-02-0178-08 Multi-objective Planning of Continuous Trajectory Task for an Omni-directional Mobile Dual-Arm Robot Based on Product Arbitration QIU Changwu12 WANG Longmei3 HUANG Yanwen24 (1. School of Naval Architecture, Ocean Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Offshore Heavy Industries Design Research Institute, Shanghai Zhenhua Heavy Industries Company Limited, Shanghai 200125, China; 3. Shanghai Steelsoft Information Technology Engineering Co., Ltd, Shanghai 201203, China; 4. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China) Abstract: The motion planning algorithm of omni-directional mobile dual-arm robot (OMDAR) must cope with a group of optimization criteria simultaneously, such as different types, dimensions and ranges. The mathematical modeling method and resolving algorithm of the constrained OMDAR multi-objective motion planning mission are analyzed. Based on the product arbitration based multi-objective optimization algorithm, motion planning of the continuous trajectory of OMDAR is modeled as a single objective function which is constructed with the product of multi-objective performance functions and constraints. The problem is successfully resolved with the Gaussian rovering particle swarm optimization (GR-PSO) algorithm. To comp