Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm

Abstract Much attention has been paid for the use of robot arm in various applications. Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement. The essential function of path planning is to create a path that satisfies the aims of motion including, avert...

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Autores principales:	Ahmed T. Sadiq, Firas A. Raheem
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2017
Materias:	D*, Free Cartesian Space, Path Planning, Particle Swarm Optimization (PSO), Robot Arm. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/9ff07ce26460417d96d6cb2b7551de88
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spelling	oai:doaj.org-article:9ff07ce26460417d96d6cb2b7551de882021-12-02T03:50:44ZRobot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm10.22153/kej.2017.02.0011818-11712312-0789https://doaj.org/article/9ff07ce26460417d96d6cb2b7551de882017-09-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/361https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 Abstract Much attention has been paid for the use of robot arm in various applications. Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement. The essential function of path planning is to create a path that satisfies the aims of motion including, averting obstacles collision, reducing time interval, decreasing the path traveling cost and satisfying the kinematics constraints. In this paper, the free Cartesian space map of 2-DOF arm is constructed to attain the joints variable at each point without collision. The Dalgorithm and Euclidean distance are applied to obtain the exact and estimated distances to the goal respectively. The modified Particle Swarm Optimization algorithm is proposed to find an optimal path based on the local search, D and Euclidean distances. The quintic polynomial equation is utilized to provide a smooth trajectory path. According to the observe results, the modified PSO algorithm is efficiently performs to find an optimal path even in difficult environments. Keywords: D, Free Cartesian Space, Path Planning, Particle Swarm Optimization (PSO), Robot Arm. Ahmed T. SadiqFiras A. RaheemAl-Khwarizmi College of Engineering – University of BaghdadarticleD, Free Cartesian Space, Path Planning, Particle Swarm Optimization (PSO), Robot Arm.Chemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 13, Iss 3 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	D*, Free Cartesian Space, Path Planning, Particle Swarm Optimization (PSO), Robot Arm. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	D, Free Cartesian Space, Path Planning, Particle Swarm Optimization (PSO), Robot Arm. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Ahmed T. Sadiq Firas A. Raheem Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D algorithm
description	Abstract Much attention has been paid for the use of robot arm in various applications. Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement. The essential function of path planning is to create a path that satisfies the aims of motion including, averting obstacles collision, reducing time interval, decreasing the path traveling cost and satisfying the kinematics constraints. In this paper, the free Cartesian space map of 2-DOF arm is constructed to attain the joints variable at each point without collision. The Dalgorithm and Euclidean distance are applied to obtain the exact and estimated distances to the goal respectively. The modified Particle Swarm Optimization algorithm is proposed to find an optimal path based on the local search, D and Euclidean distances. The quintic polynomial equation is utilized to provide a smooth trajectory path. According to the observe results, the modified PSO algorithm is efficiently performs to find an optimal path even in difficult environments. Keywords: D*, Free Cartesian Space, Path Planning, Particle Swarm Optimization (PSO), Robot Arm.
format	article
author	Ahmed T. Sadiq Firas A. Raheem
author_facet	Ahmed T. Sadiq Firas A. Raheem
author_sort	Ahmed T. Sadiq
title	Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm
title_short	Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm
title_full	Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm
title_fullStr	Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm
title_full_unstemmed	Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm
title_sort	robot arm path planning using modified particle swarm optimization based on d* algorithm
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2017
url	https://doaj.org/article/9ff07ce26460417d96d6cb2b7551de88
work_keys_str_mv	AT ahmedtsadiq robotarmpathplanningusingmodifiedparticleswarmoptimizationbasedondalgorithm AT firasaraheem robotarmpathplanningusingmodifiedparticleswarmoptimizationbasedondalgorithm
_version_	1718401608650326016

Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm

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