Research of improved PSO based on genetic operator in the motion planning of RRobot

The topic is the motion planning of under-actuated bionic robot which is named Rock & Roll Robot-RRobot. According to the dynamic equation of RRobot, improved PSO algorithm based on genetic operator is proposed for optimizing the motion planning of RRobot to achieve minimizing the energy loss. The simulation results show that improved particle swarm algorithm is effective in solving optimization of motion planning, and it improved the terminal configuration of the RRobot error and system significantly comparing with the particle swarm algorithm.