Path Planning Optimization of the Load Transport Process Using Heuristic Algorithms
Source abstract
Abstract
The paper presents the process of optimizing the duty cycle of a rotary crane. The minimization of the carried load’s trajectory was chosen as the objective function. The research was conducted using the genetic algorithm and the particle swarm algorithm. The influence of particular algorithm parameters on the obtained optimal solution was characterized. For the obtained best case, the inverse kinematics problem was solved, allowing us to determine the control functions of individual crane members. The presented redundant system was solved with the use of an algorithm for temporarily limiting the movement of specific kinematic pairs. On the basis of the obtained results, it was determined which of the algorithms used is more favorable, taking into account the crane’s operational safety and lifting capacity.
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Research context
OpenAlex topics: Robotic Path Planning Algorithms · Advanced Manufacturing and Logistics Optimization · Optimization and Search Problems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechanics and Machine Design Fundamentals, Faculty of Mechanical Engineering, Czestochowa University of Technology, Dąbrowskiego 73, 42-201 Częstochowa, Poland
Department of Advanced Computational Methods, Faculty of Science and Technology, Jan Dlugosz University in Czestochowa, Armii Krajowej 13/15, 42-200 Częstochowa, Poland
Department of Applied Mechanics, Faculty of Mechanical Engineering, VŠB-Technical University of Ostrava, 17. listopadu 15/2127, 708 33 Ostrava, Czech Republic
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