Optimization Control of Cooperative Trajectory towards Dual Arms Based on Time-Varying Constrained Output State

Figure 6

The fitness change of three different schemes. (a) Scheme 1 is to randomly extract the maximum and minimum features of the trajectory. (b) Scheme 2 takes random extraction of maximum and minimum features as the main method and random extraction of features as the secondary method. (c) Scheme 3 is to randomly extract trajectory features.

(a)

(b)

(c)