Trajectory Optimization for Adaptive Deformed Wheels to Overcome Steps Using an Improved Hybrid Genetic Algorithm and an Adaptive Particle Swarm Optimization

摘要

Two-wheeled mobile robots with deformed wheels face low stability when climbing steps, and their success rate in overcoming steps is affected by the trajectory. To address these challenges, we propose an improved hybrid genetic and adaptive particle swarm optimization (HGAPSO) algorithm to optimize the deformed wheels’ trajectory for overcoming steps. HGAPSO optimizes the maximum and minimum values of the inertial weight and learning factors of the adaptive particle swarm algorithm utilizing the region-wide search capabilities of the genetic algorithm, which substantially improves the convergence speed and adaptability. Furthermore, the analysis of the motion of the deformed wheel overcoming the steps and the examination of the potential interference during the operation are used to construct a wheel’s center-of-mass route based on fifth-order Bézier curves. Comparative simulation experiments of the trajectories optimized using different optimization algorithms under the same working conditions are designed to demonstrate the efficacy of the proposed HGAPSO algorithm in optimizing the trajectory of the deformed wheel overcoming the step. Simulation experiments were conducted using the HGAPSO algorithm to optimize the trajectories of deformation wheels for overcoming steps of various sizes. These optimized trajectories were then compared to unoptimized ones. The results showed that the HGAPSO-optimized trajectories significantly improved the success rate and stability of the mobile robot in overcoming steps.