Title :
Genetic algorithm based path planning of coordinated multi-robot manipulators
Author :
Sheng, Gao ; Jie, Zhao ; Hegao, Cai
Author_Institution :
Robot Res. Inst., Harbin Inst. of Technol., China
Abstract :
The path planning of coordinated multi-robot is a complicated problem, which involves the valid search in a high-dimension space. In terms of concrete operation situations, two types of operation of loose coordination and tight coordination of multi-robot manipulators are analyzed in detail, respectively. Furthermore, the varying length string and the fitness evaluation of GA are also discussed. Finally, two types of representative coordination cases are given to validate the proposed approach.
Keywords :
collision avoidance; genetic algorithms; manipulators; multi-robot systems; collision avoidance; concrete operation situations; coordinated multirobot manipulators; fitness evaluation; genetic algorithm; high dimension space; length string; loose coordination; path planning; representative coordination; tight coordination; Concrete; Degradation; Genetic algorithms; Manipulator dynamics; Mobile robots; Orbital robotics; Path planning; Productivity; Robot kinematics; Space technology;
Conference_Titel :
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN :
0-7803-7925-X
DOI :
10.1109/RISSP.2003.1285681
