A new technique to design planar dipole antennas by using Bezier curve and Particle Swarm Optimization

Homsup, N.; Silabut, Winyou; Kesornpatumanum, Vuttichai; Boonek, Pravit; Kuhirun, Waroth

doi:10.1515/aee-2016-0037

“…Therefore, the payload residual swing is able to be suppressed by generating a proper trolley acceleration curve as an input signal. Due to their being both smooth and continuous, Bezier curves [22][23][24] have been used to create mobile robot paths for trajectory planning in recent years. Instead of using reference trajectories [16], the trolley displacement is generated directly in this paper through using a Bezier curve, and the shape of the curve is able to be adjusted by moving the position of the control points of the Bezier curve.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Using the Bezier Curve and Particle Swarm Optimization in Trajectory Planning for Overhead Cranes to Suppress the Payloads’ Residual Swing

Liu

¹

,

Wu

²

2018

Mathematical Problems in Engineering

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An overhead crane is an underactuated system, which leads to residual swing of the crane’s payload when the crane accelerates or decelerates. This paper proposes a trajectory planning approach which uses the Bezier curve and particle swarm optimizer (PSO-BC) to limit the residual swing of a payload. The dynamic equation for an overhead crane is discredited, and a five-order Bezier curve is generated as the trolley’s displacement. The trolley’s desired position is set as the last control point of the Bezier curve, which guarantees that the trolley reaches the desired position accurately. Various constraints, including restricting the swing angle, the allowable trolley velocity, and the allowable trolley acceleration, are then taken into consideration as the constraints. In order to make the trolley reach its desired position whilst suppressing the payload’s swing under the constraints, a particle swarm optimizer is used to determine the optimal control point positions of the Bezier curve. Finally, the PSO-BC simulation results are compared to some existing approaches and are presented to show the feasibility and robustness of the proposed PSO-BC method. The simulation results indicate that the trolley moved to the desired position accurately whilst the payload’s swing angle is kept to an allowable level.

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“…The integrated optimization problem of path planning and trajectory tracking is established on the basis of Bezier curve and PSO [24][25][26]. The Bezier curve has an extremely strong graphic description ability by changing the position of several control points [27,28]. PSO has good convergence with small calculation time for most optimization problems [29,30].…”

Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance and Multitarget Tracking of a Super Redundant Modular Manipulator Based on Bezier Curve and Particle Swarm Optimization

Chen

¹

,

Ma

²

,

Zhang

³

et al. 2020

Chin. J. Mech. Eng.

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A super redundant serpentine manipulator has slender structure and multiple degrees of freedom. It can travel through narrow spaces and move in complex spaces. This manipulator is composed of many modules that can form different lengths of robot arms for different application sites. The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space. This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator. In this integrated optimization, path planning is established on a Bezier curve, and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator. A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy. The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve. Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints. The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.

show abstract

“…The integrated optimization problem of path planning and trajectory tracking is established on the basis of Bezier curve and PSO [24,25,26] . The Bezier curve has an extremely strong graphic description ability by changing the position of several control points [27,28] PSO has good convergence with small calculation time for most optimization problems [29,30] . The optimal results are one feasible path to avoid obstacles with a series of discrete path points and a discrete path tracking of super redundant manipulator guided by using a follow-the-leader strategy.…”

Section: Introductionmentioning

confidence: 99%

Obstacle avoidance and multitarget tracking of a super redundant modular manipulator based on Bezier curve and particle swarm optimization

li

¹

,

Ma

²

,

Liu

³

2020

Preprint

0

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A super redundant serpentine manipulator has slender structure and multiple degrees of freedom. It can travel through narrow spaces and move in complex spaces. This manipulator is composed of many modules that can form different lengths of robot arms for different application sites. The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space. This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator. In this integrated optimization, path planning is established on a Bezier curve, and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator. A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy. The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve. Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints. The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.

show abstract

A new technique to design planar dipole antennas by using Bezier curve and Particle Swarm Optimization

Cited by 3 publications

References 17 publications

Using the Bezier Curve and Particle Swarm Optimization in Trajectory Planning for Overhead Cranes to Suppress the Payloads’ Residual Swing

Using the Bezier Curve and Particle Swarm Optimization in Trajectory Planning for Overhead Cranes to Suppress the Payloads’ Residual Swing

Obstacle Avoidance and Multitarget Tracking of a Super Redundant Modular Manipulator Based on Bezier Curve and Particle Swarm Optimization

Obstacle avoidance and multitarget tracking of a super redundant modular manipulator based on Bezier curve and particle swarm optimization

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