Energy-efficient trajectory optimization for planetary surface manipulators via heuristic multi-objective particle swarm optimization algorithm

Abstract This paper addresses the issue of energy-efficient trajectory optimization for planetary surface manipulators under kinematic and dynamic constraints. To mitigate the inefficiency of existing algorithms, an adaptive boundary adjustment strategy for the multi-dimensional decision space is proposed, which modifies the time intervals between neighboring configuration nodes, enabling precise adaptation of the decision space boundaries. Additionally, a complementary dual-archive guided boundary exploration strategy is introduced to connect the feasible and infeasible regions, allowing for the effective utilization of information from infeasible solutions near the constraint boundaries. This heuristic approach guides the particle swarm in efficiently exploring areas close to the constraints, significantly enhancing the evolutionary optimization capability of the swarm. Furthermore, a swarm optimal position updating strategy based on sparsity sorting is developed. This guides the particle swarm to concentrate on exploring positions where non-dominated solutions on the Pareto front are more sparsely distributed, ensuring uniformity and completeness in the final Pareto front. Finally, the aforementioned strategies are integrated into a heuristic multi-objective particle swarm optimization (HMOPSO) algorithm for the trajectory optimization of manipulators. Comparative experiments are conducted with HMOPSO and existing advanced algorithms in the field of multi-objective optimization. Experimental results demonstrate that HMOPSO exhibits superior evolutionary optimization capabilities and faster convergence rates. Moreover, performance metrics such as inverse generation distance and dominant area during the iterative process of HMOPSO significantly outperform those of existing optimization algorithms.