Path Planning Optimization of the Load Transport Process Using Heuristic Algorithms

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.

Keywords

• heuristic algorithms
• optimization
• load transport
• PSO
• genetic algorithm