Trajectory Planning of Aerial Robotic Manipulator Using Hybrid Particle Swarm Optimization

The trajectory planning of an aerial robotic manipulator system is studied using Hybrid Particle Swarm Optimization (HPSO). composed unmanned vehicle (UAV) base and a manipulator. dynamically singular. In addition, strong coupling exists between the UAV To overcome problems, in join space HPSO. HPSO combines superiorities PSO GA (Genetic Algorithm), prohibiting particles from becoming trapped local minimum. control parameters are self-adaptive contribute to fast searching for global optimum. problem converted into parameter optimization problem. Each joint parameterized with Bézier curve. implemented optimize trajectories, satisfying specific objectives imposed constraints. Numerical simulations also carried out validate effectiveness proposed method.