Beetle Bee Algorithm Applied to Trajectory Tracking Control of OMNI Manipulator

Abstract

This paper proposed an improved beetle bee algorithm and applied it to the trajectory tracking control of the OMNI manipulator. A metaheuristic algorithm mimics the beetle's excellent nature of food foraging in an unknown environment by their two antennas, and based on the intensity of smell, beetles decide to move left or right until they reach the final desired location. The convergence speed for a typical Beetle Antennae Search (BAS) is not fast enough, which is time-consuming, especially when dealing with higher dimensional systems. This proposed Improved Beetle Bee algorithm overcomes this problem by adding the square in angular velocities in the objective function. Finally, the simulation results will be compared between the proposed and state-of-the-art metaheuristic algorithms.