A survey of robotic control systems constructed by using evolutionary computations

Author

Watanabe, Keigo ; Izumi, Kiyotalca

Author_Institution

Dept. of Adv. Syst. Control Eng., Saga Univ., Japan

Volume

2

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

758

Abstract

Provides a brief discussion on control and motion planning approaches to robotic manipulators or mobile robots with soft computing techniques. In particular, the paper presents the latest accomplishments and explores future trends in such a field. Specific topics of interest to this survey include: (1) the identification of a dynamic model for multi-link manipulators by using neural networks (NNs) with genetic algorithms (GAs), (2) behavior-based control of mobile robots or manipulators by applying NNs or fuzzy reasoning, together with evolutionary computations such as GAs, genetic programming (GP), or evolutionary strategy (ES), (3) a path planning problem with obstacle avoidance for mobile robots or manipulators by using evolutionary computations, and (4) a motion planning approach to configure self-organizing robots by applying GAs

Keywords

fuzzy control; fuzzy logic; genetic algorithms; manipulator dynamics; mobile robots; neurocontrollers; path planning; behavior-based control; dynamic model; evolutionary computations; fuzzy reasoning; genetic programming; motion planning; multi-link manipulators; obstacle avoidance; robotic control systems; self-organizing robots; soft computing techniques; Control systems; Dynamic programming; Evolutionary computation; Genetic programming; Manipulator dynamics; Mobile robots; Motion control; Motion planning; Path planning; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on

Conference_Location

Tokyo

ISSN

1062-922X

Print_ISBN

0-7803-5731-0

Type

conf

DOI

10.1109/ICSMC.1999.825357

Filename

825357