Multi-objective time-energy-impact optimization for robotic excavator trajectory planning: Fid-Bau Portal

Multi-objective time-energy-impact optimization for robotic excavator trajectory planning

Feng, Hao / Jiang, Jinye / Ding, Nan / Shen, Fangping / Yin, Chenbo / Cao, Donghui / Li, Chunbiao / Liu, Tao / Xie, Jiaxue

Abstract

Abstract Single-objective optimal trajectory cannot adapt to the complex requirements of excavator construction. A comprehensive optimal trajectory planning method is proposed to optimize the working time, energy consumption, and operational impact of robotic excavators. Without fusing any performance indexes, a normalized multi-objective function and an improved particle swarm optimization algorithm are established to achieve a comprehensive optimization of multiple objectives, while considering joint angle, velocity, acceleration, and quadratic acceleration constraints. Typical deep pit excavation simulation and experimental results show that the multi-objective optimization method is feasible, can balance multi-objective constraints, and can avoid falling into extremely long working times or large impacts. This method offers a more efficient and effective solution for multi-objective trajectory planning and provides a method for planning excavation trajectories based on different operating scenarios and objectives.

Highlights • Working time, energy consumption and operation impact are considered in trajectory planning. • A normalized multi-objective function is established to achieve a comprehensive optimization. • An improved particle swarm optimization algorithm is proposed to obtain the optimal solution. • Effectiveness of the trajectory planning method is validated by simulations and experiments. • The multi-objective optimization method can meet the actual construction requirements.