Title :
Task-oriented optimal configuration structure in a three-dimensional self-organizing robot by genetic algorithms
Author :
Izumi, Kiyotaka ; Tamura, Hodaka ; Watanabe, Keigo
Author_Institution :
Dept. of Mech. Eng., Saga Univ., Japan
fDate :
6/21/1905 12:00:00 AM
Abstract :
Describes the construction of a task-oriented configuration structure in the cellular robotic system as a three-dimensional self-organizing robot by using genetic algorithms (GAs). To deal with the optimal configuration in a three-dimensional environment, a special fitness of a GA is introduced: it consists of the reachable height and lifting capacity of the robot. The simulation result shows that the present task-oriented configuration structure method in three dimensional environment can be used to find the desired configuration for a given task
Keywords :
genetic algorithms; path planning; robots; self-adjusting systems; cellular robotic system; task-oriented optimal configuration structure; three-dimensional self-organizing robot; Binary trees; Collision mitigation; Control engineering; Couplings; Genetic algorithms; Genetic engineering; Intelligent robots; Mechanical engineering;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.825354
