Path planning to generate an appropriate time sequence of positions for a complex trajectory is open challenge in robotics. This paper proposes optimization method with the integration improved ant colony algorithm and high-order spline interpolation technique. The process can be modelled as travelling salesman problem. greatest features this include: (1) automatic generation new idea selecting...

We discuss trajectory optimization for hybrid systems with a natural, hierarchical separation of discrete and continuous dynamics. The trajectory optimization problem considered requires that a discrete state sequence and a continuous state trajectory must be both determined to minimize a single cost function, such that the discrete state sequence also solves a symbolic planning problem. We mod...