Optimal trajectory planning for autonomous robots - A review

摘要

Optimal Trajectory planning is very important to the operation of robot manipulators. Its main aim is to generate the trajectory from initial to goal that satisfies some objectives, like minimization of Time interval, Acceleration, Joint Jerk, Torque, Vibration, mechanical energy consumption of Actuator and obstacle, collision avoidance criteria by satisfying the manipulator's kinematic and dynamic constraints. In this review, discussion of optimization techniques to find the optimal trajectory planning either in Cartesian space or Joint space is presented. Optimal trajectory selection approaches such as kinematics and dynamics techniques with various constraints are presented and explained. Although the kinematics approach is simple and straight forward, it will experience some problems in implementation because of lack of Inertia and torque constraints. The application of Algorithms to find the optimal trajectory of manipulators in the obstacle avoidance is more important for getting better result of manipulators.