Research On Trajectory Planning Control of Industrial Manipulator Based on ALO Algorithm

Authors

  • Xianxia Liang Department of Electrical Engineering, Hebei Institute of Mechanical and Electrical Technology, Xingtai, China | Technology Innovation Center for Digital Design and Integration of Intelligent Equipment, Hebei Institute of Mechanical and Electrical Technology, Xingtai, China
  • Longfei Yue Department of Electrical Engineering, Hebei Institute of Mechanical and Electrical Technology, Xingtai, China
  • Yupeng Li Department of Electrical Engineering, Hebei Institute of Mechanical and Electrical Technology, Xingtai, China
  • Longxue Cheng Department of Electrical Engineering, Hebei Institute of Mechanical and Electrical Technology, Xingtai, China
  • Litao Sun Department of Electrical Engineering, Hebei Institute of Mechanical and Electrical Technology, Xingtai, China

DOI:

https://doi.org/10.23055/ijietap.2025.32.4.10921

Keywords:

Cubic chaotic mapping, Trust region Mutation, Gaussian mutation disturbance strategy, Industrial manipulator, Trajectory planning

Abstract

 

Aiming at the shortcomings of the ant lion optimization algorithm (ALO) in industrial manipulator trajectory planning, such as long path length, time-consuming rotation time, and uneven path, an improved ALO (IALO) is proposed. Firstly, the population is initialized by cubic chaotic mapping to improve the quality of ant lion population. Secondly, the trust region mutation is used to improve the location update mode of ant lion population and balance the global search ability and local mining ability. Finally, the Gaussian mutation disturbance strategy is used to improve the location update mode of ant lion population and enhance the ability of the algorithm to jump out of local optimization. Taking trajectory length, rotation time, and redundancy rate as indicators, compared with the ABC algorithm and classic ALO, this algorithm has a shorter path length and less rotation time.

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Published

2025-08-11

How to Cite

Liang, X., Yue, L., Li, Y., Cheng, L., & Sun, L. (2025). Research On Trajectory Planning Control of Industrial Manipulator Based on ALO Algorithm. International Journal of Industrial Engineering: Theory, Applications and Practice, 32(4). https://doi.org/10.23055/ijietap.2025.32.4.10921

Issue

Vol. 32 No. 4 (2025)

Section

Production Planning and Control

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