Trajectory optimization with particle swarm optimization for manipulator motion planning

IEEE Transactions on Industrial Informatics

Volumn 11, Issue 3, 2015, Pages 620-631

  Kim, Jeong Jung ^a   Lee, Ju Jang ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

Manipulator; Motion planning; Particle swarm optimization (PSO); Trajectory optimization

Indexed keywords

AERODYNAMICS; GLOBAL OPTIMIZATION; MANIPULATORS; MOTION PLANNING; ROBOT PROGRAMMING; STOCHASTIC SYSTEMS; TRAJECTORIES; VECTORS;

CONSTRAINT VIOLATION; MANIPULATOR MOTION-PLANNING; MOTION PLANNING PROBLEMS; OPTIMIZATION BASED METHODS; STOCHASTIC GLOBAL OPTIMIZATION; THREE-DIMENSIONAL PROBLEMS; TRAJECTORY MODIFICATION; TRAJECTORY OPTIMIZATION;

PARTICLE SWARM OPTIMIZATION (PSO);

EID: 84937439545     PISSN: 15513203     EISSN: None     Source Type: Journal    
DOI: 10.1109/TII.2015.2416435     Document Type: Article

References (35)

1. S. M. LaValle, Planning Algorithms. Cambridge, U.K.: Cambridge Univ. Press, 2006.
2. S. M. LaValle, "Motion planning," IEEE Robot. Autom. Mag., vol. 18, no. 1, pp. 79-89, Mar. 2011.
3. O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," Int. J. Robot. Res., vol. 5, no. 1, pp. 90-98, 1986.
4. S. Quinlan and O. Khatib, "Elastic bands: Connecting path planning and control," in Proc. IEEE Conf. Robot. Autom., 1993, pp. 802-807.
5. S. M. LaValle, "Rapidly-exploring random trees: A new tool for path planning," Dept. Comp. Sci., Iowa State Univ., Ames, IA, USA, Tech. Rep. 98-11, 1998.
6. D. Berenson, S. S. Srinivasa, and J. J. Kuffner, "Task space regions: A framework for pose-constrained manipulation planning," Int. J. Robot. Res., vol. 30, no. 12, pp. 1435-1460, 2011.
7. I. A. Şucan and L. E. Kavraki, "A sampling-based tree planner for systems with complex dynamics," IEEE Trans. Robot., vol. 28, no. 1, pp. 116-131, Feb. 2012.
8. M. Elbanhawi and M. Simic, "Sampling-based robot motion planning: A review," IEEE Access, vol. 2, pp. 56-77, Feb. 2014.
9. N. D. Ratliff, M. Zucker, J. A. Bagnell, and S. S. Srinivasa, "CHOMP: Gradient optimization techniques for efficient motion planning," in Proc. IEEE Conf. Robot. Autom., 2009, pp. 489-494.
10. A. D. Dragan, N. D. Ratliff, and S. S. Srinivasa, "Manipulation planning with goal sets using constrained trajectory optimization," in Proc. IEEE Conf. Robot. Autom., 2011, pp. 4582-4588.
11. M. Zucker et al., "CHOMP: Covariant hamiltonian optimization for motion planning," Int. J. Robot. Res., vol. 32, no. 9-10, pp. 1164-1193, 2013.
12. M. Kalakrishnan, S. Chitta, E. Theodorou, P. Pastor, and S. Schaal, "STOMP: Stochastic trajectory optimization for motion planning," in Proc. IEEE Conf. Robot. Autom., 2011, pp. 4569-4574.
13. E. A. Theodorou, J. Buchli, and S. Schaal, "A generalized path integral control approach to reinforcement learning," J. Mach. Learn. Res., vol. 11, pp. 3137-3181, 2010.
14. E. A. Theodorou, J. Buchli, and S. Schaal "Reinforcement learning of motor skills in high dimensions: A path integral approach," in Proc. IEEE Conf. Robot. Autom., 2010, pp. 2397-2403.
15. J. Kennedy and R. Eberhart, "Particle swarm optimization," in Proc. IEEE Int. Conf. Neural Netw., 1995, vol. 4, pp. 1942-1948.
16. R.-J. Wai, J.-D. Lee, and K.-L. Chuang, "Real-time PID control strategy for maglev transportation system via particle swarm optimization," IEEE Trans. Ind. Electron., vol. 58, no. 2, pp. 629-646, Feb. 2011.
17. J. Zhao, F. Wen, Z. Y. Dong, Y. Xue, and K. P. Wong, "Optimal dispatch of electric vehicles and wind power using enhanced particle swarm optimization," IEEE Trans. Ind. Informat., vol. 8, no. 4, pp. 889-899, Nov. 2012.
18. Y.-J. Gong et al., "Optimizing RFID network planning by using a particle swarm optimization algorithm with redundant reader elimination," IEEE Trans. Ind. Informat., vol. 8, no. 4, pp. 900-912, Nov. 2012.
19. V. Roberge, M. Tarbouchi, and G. Labonté, "Comparison of parallel genetic algorithm and particle swarm optimization for real-time UAV path planning," IEEE Trans. Ind. Informat., vol. 9, no. 1, pp. 132-141, Feb. 2013.
20. J. Sun, V. Palade, X.-J. Wu, W. Fang, and Z. Wang, "Solving the power economic dispatch problem with generator constraints by random drift particle swarm optimization," IEEE Trans. Ind. Informat., vol. 10, no. 1, pp. 222-232, Feb. 2014.
21. K. Y. Chan, T. S. Dillon, and E. Chang, "An intelligent particle swarm optimization for short-term traffic flow forecasting using on-road sensor systems," IEEE Trans. Ind. Electron., vol. 60, no. 10, pp. 4714-4725, Oct. 2013.
22. T.-H. S. Li, Y.-H. Wang, C.-C. Chen, and C.-J. Lin, "A fast color information setup using EP-like PSO for manipulator grasping color objects," IEEE Trans. Ind. Informat., vol. 10, no. 1, pp. 645-654, Feb. 2014.
23. M. Shen et al., "Bi-velocity discrete particle swarm optimization and its application to multicast routing problem in communication networks," IEEE Trans. Ind. Electron., vol. 61, no. 12, pp. 7141-7151, Dec. 2014.
24. B. Ufnalski, A. Kaszewski, and L. M. Grzesiak, "Particle swarm optimization of the multi-oscillatory LQR for a 3-phase 4-wire voltage source inverter with an LC output filter," IEEE Trans. Ind. Electron., vol. 62, no. 1, pp. 484-493, Jan. 2015.
25. Z. Michalewicz, Genetic Algorithms + Data Structures = Evolution Programs. New York, NY, USA: Springer, 1996.
26. T. Bäck and H.-P. Schwefel, "An overview of evolutionary algorithms for parameter optimization," Evol. Comput., vol. 1, pp. 1-23, 1993.
27. S. Das and P. N. Suganthan, "Differential evolution: A survey of the stateof-the-art," IEEE Trans. Evol. Comput., vol. 15, no. 1, pp. 4-31, Feb. 2011.
28. N. Hansen and A. Ostermeier, "Adapting arbitrary normal mutation distributions in evolution strategies: The covariance matrix adaptation," in Proc. IEEE Int. Conf. Evol. Comput., 1996, pp. 312-317.
29. M. G. H. Omran, A. P. Engelbrecht, and A. Salman, "Bare bones differential evolution," Eur. J. Oper. Res., vol. 196, pp. 123-139, 2008.
30. R. Krohling, "Gaussian swarm: A novel particle swarm optimization algorithm," in Proc. IEEE Conf. Cybern. Intell. Syst., Dec. 2004, vol. 1, pp. 372-376.
31. P. M. Hubbard, "Approximating polyhedra with spheres for time-critical collision detection," ACM Trans. Graph., vol. 15, pp. 179-210, 1996.
32. S. Stolpner, P. Kry, and K. Siddiqi, "Medial spheres for shape approximation," IEEE Trans. Pattern. Anal. Mach. Intell., vol. 34, no. 6, pp. 1234-1240, Jun. 2012.
33. P. Felzenszwalb and D. Huttenlocher, "Distance transforms of sampled functions," Theory Comput., vol. 8, pp. 415-428, 2012.
34. D. Nister and H. Stewenius, "Scalable recognition with a vocabulary tree," in Proc. IEEE Comput. Soc. Conf. Comput. Vis. Pattern Recognit., 2006, pp. 2161-2168.
35. T. Flash and N. Hogan, "The coordination of arm movements: An experimentally confirmed mathematical model," J. Neurosci., vol. 5, no. 7, pp. 1688-1703, 1985.