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Improved whale optimization for time-optimal and collision-free trajectory planning in dual-arm robots
Ying Du1, Chengbo Xu2, Yunjia Wang2
1School of Electrical and Mechanical Engineering, Jilin University of Architecture and Technology, Changchun, 130114, China. 1226101040@qq.com.
Scientific Reports
|January 6, 2026
Summary
This study introduces an improved Whale Optimization Algorithm (WOA) for dual-arm robot path planning, enhancing collaborative obstacle avoidance. The novel method significantly reduces movement distance and boosts path optimization efficiency.
Area of Science:
- Robotics
- Artificial Intelligence
- Optimization Algorithms
Background:
- Dual-arm robot path optimization faces challenges in environmental and collaborative obstacle avoidance.
- Existing methods may lack efficiency in complex, dynamic scenarios.
Purpose of the Study:
- To propose a time-optimal trajectory optimization method for dual-arm robots.
- To enhance collaborative and environmental obstacle avoidance capabilities.
- To improve the efficiency and reduce the movement distance of dual-arm robots.
Main Methods:
- A multi-strategy optimized Whale Optimization Algorithm (WOA) was developed.
- The left arm's trajectory was used as an obstacle for the right arm's path planning.
- A collision detection mechanism was integrated, formulating the problem as a constrained optimization task.
Main Results:
- The proposed method reduced the total manipulator movement distance by 17.59%.
- Path optimization efficiency was enhanced by 51% compared to the traditional WOA.
- Simulation experiments validated the effectiveness of the multi-strategy optimized WOA.
Conclusions:
- The novel multi-strategy optimized WOA effectively addresses dual-arm robot path optimization challenges.
- The method offers significant improvements in efficiency and movement distance reduction.
- This approach provides a robust solution for collaborative obstacle avoidance in robotics.
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