Application of swarm intelligence to a two-fold optimization scheme for trajectory planning of a robot arm

Tathagata Chakraborti, Abhronil Sengupta, Amit Konar, Ramadoss Janarthanan

Research output: Contribution to journalConference article

4 Scopus citations

Abstract

Motion planning of a robotic arm has been an important area of research for the last decade with the growing application of robot arms in medical science and industries. In this paper the problem of motion planning has been dealt with in two stages, first by developing appropriate cost functions to determine a set of via points and then fitting an optimal energy trajectory. Lbest Particle Swarm Optimization has been used to solve the minimization problem and its relative performance with respect to two other popular evolutionary algorithms, Differential Evolution and Invasive Weed Optimization, has been studied. Experiments indicate swarm intelligence techniques to be far more efficient to solve the optimization problem.

Original languageEnglish (US)
Pages (from-to)89-96
Number of pages8
JournalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7077 LNCS
Issue numberPART 2
DOIs
Publication statusPublished - Dec 1 2011
Event2nd International Conference on Swarm, Evolutionary, and Memetic Computing, SEMCCO 2011 - Visakhapatnam, Andhra Pradesh, India
Duration: Dec 19 2011Dec 21 2011

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All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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