Energy efficient trajectory planning via Big Bang Big Crunch with obstacle avoidance

Sabri Yilmaz*, Metin Gokasan

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Robot manipulation has been an interesting topic for researchers over decades. While researches are going on, different problems occurred. One of the most important problems is energy consumption. Because operation time of mobile robots is fully related with energy consumption. In this study two main problems are taken into consideration, first one is minimization of energy consumption and second one is obstacle avoidance. For this purpose, a simple robot manipulator with two degrees of freedom is chosen. The objective function is selected as a function of applied torque values at the joints, minimization of objective function, results in minimization of motor currents. The algorithm checks if there is a contact between the obstacles and the manipulator, while the algorithm is searching for the trajectory polynomial that requires minimum energy consumption. Finally, the algorithm finds the trajectory polynomial that contains no contact between the manipulator and the obstacles, also minimizes energy consumption.

Original languageEnglish
Title of host publicationProceedings - 6th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages332-337
Number of pages6
ISBN (Electronic)9781509011780
DOIs
Publication statusPublished - 5 Apr 2017
Event6th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2016 - Batu Ferringhi, Penang, Malaysia
Duration: 25 Nov 201627 Nov 2016

Publication series

NameProceedings - 6th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2016

Conference

Conference6th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2016
Country/TerritoryMalaysia
CityBatu Ferringhi, Penang
Period25/11/1627/11/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

  • big bang-big crunch optimization algorithm
  • global optimization
  • obstacle avoidance
  • robot dynamics
  • trajectory planning

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