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Erschienen in:
2018 | OriginalPaper | Buchkapitel
BP-MPSO Algorithm for PUMA Robot Vacumn Path Planning
verfasst von : SU Qinghua, Li Juntao
Erschienen in: Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2017
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Abstract
Path planning of robots is the key problem, and steering to achieve the goal is important for the PUMA robot. In this paper, we present the BP-MPSO algorithm for PUMA robot vacuum path planning that can well enhance the efficiency robot execution. Firstly, according to PUMA robot’s mechanical structure, the BP algorithm condition modeling and an attitude modeling were presented. Secondly, for the traditional particle swarm optimization (PSO) limitation in searching space and easily running into local optimal points, the re-initialization mechanism using the global information feedback to modified particle swarm optimization (MPSO) algorithm was introduced. Finally, the BP-MPSO algorithm is combined with BP network algorithm and the MPSO algorithm, which can not only avoids the difficulty in solving the inverse motion equations but also ensures that the optimal solution and can obtains the global optimal aim instead of falling into local extremer.