The invention discloses an NURBS curve
robot trajectory offset point focusing fitting method based on
adaptive optimization, which remarkably improves trajectory precision and calculation efficiency through
adaptive optimization focused on an error offset point. The method comprises the steps of initial path planning, NURBS
curve fitting, error evaluation and offset point extraction,
adaptive optimization and real-time feedback adjustment. In error evaluation, double indexes of a root-mean-
square error and a maximum absolute error are adopted, an offset point is accurately identified, a
control point, a weight and a node vector are focused and optimized by using a
genetic algorithm, and
local optimum is effectively avoided. A regularization item is introduced into a
fitness function, curve complexity and precision are balanced, and smoothness and feasibility of a track are achieved. And finally, real-time adjustment of the trajectory is realized through a multi-feedback mechanism, and the robustness of the
robot in a dynamic environment is improved. Compared with the prior art, the precision, the real-time performance and the environmental adaptability of track generation are realized, and particularly, an efficient and accurate track fitting effect is achieved in a complex dynamic environment.