Path Planning Algorithm for Robot Manipulators Using Imperialist CompetitiveAlgorithm

This paper proposes a new path planning algorithm forserial manipulators with any degrees of freedom, basedon imperialist competitive algorithm (ICA). The methodformulates the path planning problem as an optimizationproblem and solves it using the ICA in two phases. Themain objective of the algorithm is to find position ofconsecutive points as the best path for a givenmanipulator’s by minimizing the path error. Theproposed method could be applied for any kind ofmanipulator configuration, independent of the number ofjoints. Unlike other path planning algorithms, the resultof the proposed method will be different for differentmanipulators that are utilized for path planning. In otherword, the proposed algorithm finds the best pathbetween the starting point and end point according to theconfiguration of manipulator. Simulation and studiesshow that the proposed method leads to a high accuracyand efficiency to solve the path planning problem ofserial manipulators with arbitrary degree of redundancy.

کلیدواژه ها:

Path Planning ، Imperialist CompetitiveAlgorithm ، Robot Manipulators ، Swarm Intelligence