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Real-time trajectory planning for collaborative robots using incremental multi-objective optimization

INTELLIGENT SERVICE ROBOTICS 2025年第1期18卷 43-59页

作者： Shen, NanYan You, Hua Li, Jing Song, Ping Shanghai Univ Sch Mechatron Engn & Automat Shanghai Key Lab Intelligent Mfg & Robot Shangda Rd 99 Shanghai 200444 Peoples R China

Human-robot collaboration plays a crucial role in industries such as manufacturing, healthcare, and service. It enhances operational efficiency, ensures safety, and optimizes the interaction experience between humans and robots. In close-range human-robot collaboration, trajectory planning for collaborative robots needs to consider the safety, efficiency, and comfort of the trajectory, and be able to respond quickly to changes in the environment. This paper proposes an incremental multi-objective trajectory optimization algorithm. The algorithm integrates real-time human motion data into the optimization problem, ensuring real-time responsiveness to environmental changes during collaboration. Experimental results show that, compared to existing algorithms, our algorithm demonstrates superior overall performance in terms of safety, efficiency, and comfort.

关键词： Human-robot collaboration multi-objective trajectory optimization trajectory planning

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Optimal deep-space heliocentric transfers with an electric sail and an electric thruster

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ADVANCES IN SPACE RESEARCH 2024年第1期73卷 85-94页

作者： Niccolai, Lorenzo Univ Pisa Dept Civil & Ind Engn Via G Caruso 8 I-56122 Pisa Italy

An electric solar wind sail is a propellantless propulsive system that generates thrust by exploiting the electrostatic interaction between solar wind ions and one or more charged tethers. Assuming a realistic near-term design in which the sail is composed of a limited number of tethers, the propulsive acceleration provided to the spacecraft is small. Moreover, according to a recent thrust model, the propulsive acceleration vector is constrained to lie in a cone centered on the outward radial direction with half-angle equal to about 20 degrees, resulting in a small circumferential component of the propulsive acceleration. In order to overcome these issues, a possible strategy con-sists in combining the electric sail with an electric thruster that provides a low thrust steerable around the circumferential direction. The effectiveness of such a combination is thoroughly analyzed in this work for deep-space heliocentric transfers. Transfer trajectories are obtained as outputs of a multi-objective optimization procedure, in which a suitable linear function of the flight time and the propellant consumption is minimized, considering different relative weights of the two competing requirements. Two exemplary case studies, con-sisting of Earth-Mars and Earth-Venus ephemeris-free circle-to-circle transfers, are presented to show the effectiveness of the proposed arrangement. (c) 2023 COSPAR. Published by Elsevier B.V. All rights reserved.

关键词： Electric solar wind sail Electric propulsion Hybrid propulsion multi-objective trajectory optimization

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Fuzzy Goal Programming Algorithm for multi-objective trajectory Optimal Parking of Autonomous Vehicles

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2024年第1期9卷 1909-1918页

作者： Zhang, Gaochang Chai, Senchun Chai, Runqi Garcia, Marcos Xia, Yuanqing Beijing Inst Techn Sch Automat Beijing 100081 Peoples R China

With the development of autonomous vehicle technology, planning an efficient trajectory for automatic parking while considering multiple factors such as path length, task time, and passenger comfort is increasingly necessary. This article proposes a solution to the automatic parking problem using an improved fuzzy goal programming algorithm, a multi-objective technique capable of finding a compromised solution among all objectives using a function transformation. Furthermore, it efficiently solves the optimized automatic maneuver parking problem while considering fuzzy factors. In this way, the proposed solution can compensate for the difficulty of precisely determining excepted values for each optimization objective. The designed multi-objective strategy is validated and analyzed through a series of simulation and experimental studies. The simulation results indicate that the improved fuzzy goal programming approach has a better performance than the general goal programming method, the weighted sum method and single-objective optimization method in searching for a compromised solution of the multi-objective trajectory optimization automatic parking problem. Moreover, experimental results verify the effectiveness of the proposed method in solving multi-objective optimal automatic parking problem.

关键词： Autonomous vehicles Programming optimization trajectory planning trajectory optimization Wheels Planning multi-objective trajectory optimization automatic parking fuzzy goal programming

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NSGA-II based trajectory optimization on 3D point cloud for spray painting robots 40

NSGA-II based trajectory optimization on 3D point cloud for ...

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40th Chinese Control Conference (CCC)

作者： Zhang, Yadi Zhang, Shanhui Ma, Xin Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China

ISBN: (纸本)9789881563804

Spraying trajectory planning for complex surface has always been a challenging problem. On the basis of a spraying path generated with the 3D point cloud slice, this paper proposes a Non-dominated Sorting Genetic Algorithm (NSGA-II) based spraying trajectory optimization method for complex surfaces. Firstly, the point cloud slicing method is used to generate the initial spraying path of complex surfaces. In particular, aiming at the possible path self-intersection problem near the high curvature region on complex surfaces, a path smoothing method based on monotone chain is proposed to eliminate invalid path loops. Then, a multi-objective NSGA-II spray trajectory optimization method is proposed to optimize spray efficiency and spray quality by improving the spray speed distribution along the spray path. Finally, the proposed approach is verified on real automotive surfaces, the results show its robustness and efficiency in solving spray trajectory planning problems on complex surfaces.

关键词： Point Cloud Slicing Spray Robot multi-objective trajectory optimization NSGA-II

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NSGA-II based trajectory optimization on 3D point cloud for spray painting robots

NSGA-II based trajectory optimization on 3D point cloud for ...

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第40届中国控制会议

作者： Yadi Zhang Shanhui Zhang Xin Ma School of Control Science and Engineering Shandong University

Spraying trajectory planning for complex surface has always been a challenging problem. On the basis of a spraying path generated with the 3 D point cloud slice, this paper proposes a Non-dominated Sorting Genetic Algorithm（NSGA-II） based spraying trajectory optimization method for complex surfaces. Firstly, the point cloud slicing method is used to generate the initial spraying path of complex surfaces. In particular, aiming at the possible path self-intersection problem near the high curvature region on complex surfaces, a path smoothing method based on monotone chain is proposed to eliminate invalid path loops. Then, a multi-objective NSGA-II spray trajectory optimization method is proposed to optimize spray efficiency and spray quality by improving the spray speed distribution along the spray path. Finally, the proposed approach is verified on real automotive surfaces, the results show its robustness and efficiency in solving spray trajectory planning problems on complex surfaces.

关键词： Point Cloud Slicing Spray Robot multi-objective trajectory optimization NSGA-II

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Generic and site-specific criteria in the optimization of noise abatement trajectories

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TRANSPORTATION RESEARCH PART D-TRANSPORT AND ENVIRONMENT 2005年第5期10卷 405-419页

作者： Visser, HG Delft Univ Technol Fac Aerosp Engn NL-2600 GB Delft Netherlands

This paper presents a trade-off study that has been conducted using a recently developed tool for the analysis and design of noise abatement procedures around airports. This new tool, NOISHHH, combines a noise model, a geographic information system, and a dynamic trajectory optimization algorithm. NOISHHH features a multi-objective optimization capability that permits exploration of a variety of environmental criteria, including indices that are generic in nature (e.g. noise footprints) as well as site-specific criteria that take into account the population distribution in the areas surrounding the airport. Using this capability a noise performance trade-off was conducted by comparing arrival trajectories that are optimized according to a variety of noise abatement criteria, including both generic and site-specific criteria. The main focus is on providing insight into the sensitivities in the multi-objective noise performance trade-off process. The results are used to illustrate the possibility of synthesizing trajectories that provide a sensible compromise solution among the various noise criteria. (c) 2005 Elsevier Ltd. All rights reserved.

关键词： noise abatement procedures multi-objective trajectory optimization

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