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Multi-objective time-energy-impact optimization for robotic excavator trajectory planning.
- Source :
-
Automation in Construction . Dec2023, Vol. 156, pN.PAG-N.PAG. 1p. - Publication Year :
- 2023
-
Abstract
- Single-objective optimal trajectory cannot adapt to the complex requirements of excavator construction. A comprehensive optimal trajectory planning method is proposed to optimize the working time, energy consumption, and operational impact of robotic excavators. Without fusing any performance indexes, a normalized multi-objective function and an improved particle swarm optimization algorithm are established to achieve a comprehensive optimization of multiple objectives, while considering joint angle, velocity, acceleration, and quadratic acceleration constraints. Typical deep pit excavation simulation and experimental results show that the multi-objective optimization method is feasible, can balance multi-objective constraints, and can avoid falling into extremely long working times or large impacts. This method offers a more efficient and effective solution for multi-objective trajectory planning and provides a method for planning excavation trajectories based on different operating scenarios and objectives. • Working time, energy consumption and operation impact are considered in trajectory planning. • A normalized multi-objective function is established to achieve a comprehensive optimization. • An improved particle swarm optimization algorithm is proposed to obtain the optimal solution. • Effectiveness of the trajectory planning method is validated by simulations and experiments. • The multi-objective optimization method can meet the actual construction requirements. [ABSTRACT FROM AUTHOR]
- Subjects :
- *PARTICLE swarm optimization
*SPACE trajectories
*EXCAVATING machinery
*ROBOTICS
Subjects
Details
- Language :
- English
- ISSN :
- 09265805
- Volume :
- 156
- Database :
- Academic Search Index
- Journal :
- Automation in Construction
- Publication Type :
- Academic Journal
- Accession number :
- 173458369
- Full Text :
- https://doi.org/10.1016/j.autcon.2023.105094