Title :
Generation of collision-free paths, a genetic approach
Author :
Solano, J. ; Jones, D.I.
Author_Institution :
Dept. de Electronica y Automatizacion, Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
Abstract :
This paper deals with the generation of minimum distance paths for a robot manipulator operating in an environment cluttered with obstacles. These paths are optimised using a genetic approach. The genetic algorithm objective function is formulated in an obstacle avoidance problem context. Evaluation of the genetic algorithm parameters and their behaviour is undertaken in order to determine the most suitable values for this application. Finally cases involving first a mobile robot and then a two-link revolute manipulator are developed
Keywords :
genetic algorithms; path planning; robots; collision-free paths; genetic algorithm objective function; minimum distance paths; mobile robot; obstacle avoidance; path generation; two-link revolute manipulator;
Conference_Titel :
Genetic Algorithms for Control Systems Engineering, IEE Colloquium on
Conference_Location :
London
