Time and energy optimal trajectory planning for freight train cleaning robot based on seventh-degree polynomial interpolation and an improved HHO
Jing Rui Xu, Xiaonan Chang, Yanxin Liu, Xingyu Wang, Chaofan Ren · Alexandria Engineering Journal · 2025
In robot trajectory planning , polynomial interpolation algorithms are widely used. However, this method suffers from limitations such as high order, absence of convex packet property, and a large number of setup parameters, which makes it difficult to meet the time and energy requirements of freight train cleaning robots. Therefore, a time and energy optimal trajectory planning method based on seventh-degree polynomial interpolation and improved Harris hawks optimization algorithm (IHHO) is proposed, aiming to achieve optimal trajectory planning in terms of time and energy consumption. Firstly, the trajectory points of the robot each joint are connected by seventh-degree polynomial interpolation. Then, the limitations of polynomial interpolation are overcome with the help of the harris hawk optimization (HHO) algorithm that introduces an adaptive decay strategy for jump strengths . Finally, the freight train cleaning robot trajectory is determined with the objectives of running time and energy consumption. The experimental results show that compared with before optimization, the optimization time is increased by 53.52 %, the energy is increased by 18.59 %, and the robot joints meet the kinematic constraints.