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Synthesis of Trajectory Planning Algorithms Using Evolutionary Optimization Algorithms

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Advances in Optimization and Applications (OPTIMA 2022)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1739))

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Abstract

The article considers the problem of planning the optimal trajectory of a delta robot. The workspace of the robot is limited by the range of permissible values of the angles of the drive revolute joints, interference of links and singularities. Additional constraints related to the presence of obstacles have been introduced. Acceptable values of the robot’s input coordinates are obtained based on the inverse kinematics, taking into account the constraints of the workspace, represented as a partially ordered set of integers. For the given initial and final coordinates, a randomly generated family of trajectories belonging to a valid set is obtained. Optimization of each of the trajectories of the family based on evolutionary algorithms is performed. The optimization criterion is a function proportional to the duration of movement along the trajectory. The results of modeling are presented.

This work was supported by the state assignment of Ministry of Science and Higher Education of the Russian Federation under Grant FZWN-2020-0017.

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Acknowledgements

This work was supported by the state assignment of Ministry of Science and Higher Education of the Russian Federation under Grant FZWN-2020-0017.

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Authors and Affiliations

  1. Belgorod State Technological University named after V.G. Shukhov, Belgorod, Russia

    Dmitry Malyshev, Vladislav Cherkasov & Larisa Rybak

  2. Federal Research Center “Computer Science and Control” of Russian Academy of Sciences, Moscow, Russia

    Askhat Diveev

  3. RUDN University, Moscow, Russia

    Askhat Diveev

Authors
  1. Dmitry Malyshev
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  2. Vladislav Cherkasov
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  3. Larisa Rybak
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  4. Askhat Diveev
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Corresponding author

Correspondence to Dmitry Malyshev .

Editor information

Editors and Affiliations

  1. FRC CSC RAS, Moscow, Russia

    Nicholas Olenev

  2. FRC CSC RAS, Moscow, Russia

    Yuri Evtushenko

  3. University of Montenegro, Podgorica, Montenegro

    Milojica Jaćimović

  4. Krasovsky Institute of Mathematics and Mechanics, Ekaterinburg, Russia

    Michael Khachay

  5. FRC CSC RAS, Moscow, Russia

    Vlasta Malkova

  6. FRC CSC RAS, Moscow, Russia

    Igor Pospelov

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Malyshev, D., Cherkasov, V., Rybak, L., Diveev, A. (2022). Synthesis of Trajectory Planning Algorithms Using Evolutionary Optimization Algorithms. In: Olenev, N., Evtushenko, Y., Jaćimović, M., Khachay, M., Malkova, V., Pospelov, I. (eds) Advances in Optimization and Applications. OPTIMA 2022. Communications in Computer and Information Science, vol 1739. Springer, Cham. https://doi.org/10.1007/978-3-031-22990-9_11

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  • DOI: https://doi.org/10.1007/978-3-031-22990-9_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-22989-3

  • Online ISBN: 978-3-031-22990-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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