Incremental accelerated gradient descent and adaptive fine-tuning heuristic performance optimization for robotic motion planning

Abstract

Robot comprehensive performance optimization is a high dimensional non-convex problem, which is of great significance in the practice of robotic intelligent manufacturing. Existing methods still face many challenges in performance evaluation, local optima, and planning efficiency. In this paper, a novel method based on accelerated gradient descent and directed-mutagenesis genetic algorithm (AGD-DGA) is proposed for efficient robotic motion planning and comprehensive performance optimization. Firstly, the time, energy consumption, and impact (T-E-I) are taken as the optimization objectives. In particular, the power loss sub-model is constructed, which is rarely considered in the previous research on motion optimization, and it is combined with the driving power sub-model to improve the evaluation accuracy. Next, a novel directed-mutagenesis genetic algorithm (DGA) is proposed to address the local optima problem. Compared with existing methods based on random sampling, the DGA further improves the success rate and efficiency by updating the probability model based on the adaptive Gaussian process. Moreover, a hierarchical weight updating mechanism is established to overcome the impact of additional performance indicators on the success rate of collision-free path planning. To improve planning efficiency, an incremental optimization mechanism and an adaptive fine-tuning strategy for population size are proposed to reduce unnecessary sampling, evaluation, and sorting. The simulation and experimental results in different scenarios demonstrate that the proposed AGD-DGA achieves better results than most of the mainstream algorithms in terms of optimization efficiency, success rate, and motion performance. In addition, it is also verified that the modified energy consumption model can achieve an average evaluation accuracy of more than 90% while maintaining the calculation efficiency.