Trajectory Planning for Concrete Pump Truck Based on Intelligent Hill Climbing and Genetic Algorithm

Abstract

This paper takes the five –link concrete pump boom as the research object, and transforms its trajectory planning issue into a multi-object optimization problem. Using intelligent hill climbing algorithm and genetic algorithm, and integrating them closely to ensure real-time online planning for the pump truck effectively, and make the planned motion trajectory for the boom is global optimized under particular constrained conditions. Simulation and performance comparison experiments show that this hybrid algorithm is practical and effective, which offers a new approach for the trajectory planning problem of concrete pump truck.