Collision-free Motion Planning and Trajectory Tracking of Underactuated Robots Based on Genetic Algorithm

Collision-free motion planning and trajectory tracking of underactuated robots are investigated in this paper.The partly stable planners are introduced and the control objectives are fulfilled by the proper switching of partly stable planners.The genetic algorithm is introduced in the best switching sequence searching. Penalty method is utilized and the constrained optimizations turns to be unconstrained ones, then the best solutions are obtained by the genetic algorithm.At last numerical simulations which are carried out on the planar 3R underactuated robot show the effectiveness of the proposed method.