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Trajectory planning for cable-driven continuum robots using model predictive control and basis spline optimization

Published online by Cambridge University Press:  08 July 2026

Qi Chen Open the ORCID record for Qi Chen [Opens in a new window] ,
Shishuai Zhao  and
Yanan Qin
Qi Chen*
Affiliation:
University of Shanghai for Science and Technology , China
Shishuai Zhao
Affiliation:
University of Shanghai for Science and Technology , China
Yanan Qin
Affiliation:
University of Shanghai for Science and Technology , China
*
Corresponding author: Qi Chen; E-mail: chenqi8@usst.edu.cn
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Abstract

To guarantee the safety and stability of cable-driven continuum robots (CDCRs) in multi-obstacle scenarios, this paper proposes a novel trajectory planning and tracking framework that integrates an artificial potential field (APF) based model predictive control (MPC) with a two-layer B-spline trajectory optimization framework. APF is incorporated as a penalty term in the objective function to enhance trajectory safety. Additionally, an improved whale optimization algorithm (IWOA) is introduced to circumvent the local optimal trap of MPC. Particularly, to improve tracking accuracy and stability, a two-layer B-spline optimization framework is proposed to enhance the smoothness of the planned trajectory. Simulation and experimental results show that the designed trajectory planning and tracking algorithm can generate collision-free trajectories and achieve high tracking accuracy in multi-obstacle environments.

Keywords

model predictive controlartificial potential fieldcable-driven continuum robotwhale optimization algorithmtwo-layer B-spline optimization framework

Information

Type
Research Article
Information
Robotica , First View , pp. 1 - 22
Copyright
© The Author(s), 2026. Published by Cambridge University Press

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