Time-energy-jerk optimal trajectory planning for high-speed parallel manipulator based on quantum-behaved particle swarm optimization algorithm and quintic B-spline.
Weihua ChenHeng WangZhanhao LiuKejian JiangPublished in: Eng. Appl. Artif. Intell. (2023)
Keyphrases
- b spline
- trajectory planning
- high speed
- control points
- parallel manipulator
- motion planning
- basis functions
- tensor product
- affine transformation
- minimum energy
- dynamic model
- cubic b spline
- obstacle avoidance
- robot manipulators
- degrees of freedom
- dynamic environments
- least squares
- dynamic programming
- optimal path
- path planning
- cubic spline