Metaheuristics for Trajectory Generation by Polynomial Interpolation
Hamouche Oulhadj, Boubaker Daâchi, Riad Menasri · 2020
This chapter outlines an interpolation method for a particular class of trajectory planning problems. A trajectory can be defined in the Cartesian space or the joint space. The transition from the Cartesian space to the joint space is based on the direct geometric model of the robot, the inverse transition on the indirect geometric model. The chapter describes the problem-to-be solved and explains proposed formalization. In the proposed formalization, there are many constraints to be met, which increase the complexity of the problem to be solved and which rise in number according to the quantity of control nodes under consideration. In effect, an increase in the number of nodes automatically increases the dimension of the search space and the number of constraints. The chapter also presents the solving algorithm and simulation results with comments.