An Improved Snake Optimization Algorithm and Its Application in Manipulator Trajectory Planning

摘要

Manipulator is a kind of widely used mechanical equipment, which has important applications in industry, agriculture, medical and other fields. Manipulator trajectory planning has always been a hot topic in manipulator research. In this paper, an improved snake optimization algorithm is proposed for robot manipulator trajectory planning in complex scenes. Firstly, the mathematical model of trajectory planning problem is constructed and a new cost function with constraint penalty term is proposed. Secondly, the updating mechanism of SO algorithm is improved and a new chaotic local search method is proposed to enhance the search ability and convergence speed of the algorithm. Finally, simulation experiments are carried out in multiple complex environments and compared with traditional algorithms. Experimental results show that ISO algorithm has better performance and stability in trajectory planning.