Obstacle Avoidance and Tracking Control of Redundant Robotic Manipulator: An RNN-Based Metaheuristic Approach

• Published in: IEEE transactions on industrial informatics Vol. 16; no. 7; pp. 4670 - 4680
• Main Authors: Khan, Ameer Hamza, Li, Shuai, Luo, Xin
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.07.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Antennae; Collision avoidance; Computer simulation; Heuristic methods; Kinematics; Manipulators; Mathematical analysis; Metaheuristic optimization; Obstacle avoidance; Optimization; recurrent neural network (RNN); Recurrent neural networks; Robot arms; Robot control; Task analysis; Tracking control; Trajectory

In this article, we present a metaheuristic-based control framework, called beetle antennae olfactory recurrent neural network, for simultaneous tracking control and obstacle avoidance of a redundant manipulator. The ability to avoid obstacles while tracking a predefined reference path is critical f...