Comparison Study of the PSO and SBPSO on Universal Robot Trajectory Planning

Abstract

Industrial robots were modified over the years. The benefit of robots is making production systems more efficient. Most methods of controlling robots have some limitations, such as stopping the robots. The robot stops by various reasons, such as collisions. The goal of this study is to study the comparison of improving the Artificial Potential Field (APF) by the traditional Particle Swarm Optimization (PSO) algorithm and the Serendipity-Based PSO (SBPSO) algorithm to control the path of a universal robot UR5 with collision avoidance. Already, the metaheuristic algorithm kinds deal with a premature convergence. This paper presents a new approach, which depends on the concept of serendipity and premature convergence applied to the path of the universal manipulator UR5 and also compares it with traditional the PSO. The features of the SBPSO algorithm prototype are formalized in this paper using the concept of serendipity in two dimensions: intelligence and chance. The results showed that the SBPSO is more efficient and has better convergence behavior than the traditional PSO for controlling the trajectory planning of the UR5 manipulator with obstacle avoidance.

Keywords

• Particle Swarm Optimization (PSO)
• Serendipity-Based PSO (SBPSO)
• Artificial Potential Field (APF)
• serendipity
• premature convergence
• scout particles