An enhanced optimization approach for generating smooth robot trajectories in the presence of obstacles

The basic concept of this work is the integration of path planning in environments with obstacles and motion execu tion under robot dynamic constraints Instead of tracking an exactly planned geometric path which limits not only the search space of the optimal trajectory but also the e xibility for online modication a robot mobile or manipu lators realizes its motion under the guidance of a sequence of grossly selected crucial points called subgoals Bsplines are used to generate smooth trajectories through these subgoals To optimize the motion time rst a multi criterion cost function is designed which integrates motion time trajectory length and curvature Then a hybrid op timization algorithm with which the local minima can be explicitly detected is developed Experiments show that op timization results are considerably improved using the cos