Title :
Virus-evolutionary genetic algorithm with subpopulations: application to trajectory generation of redundant manipulator through energy optimization
Author :
Arakawa, Takemasa ; Kubota, Naoyuki ; Fukuda, Toshio
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
In this paper, we apply virus-evolutionary genetic algorithm with subpopulations (VEGAS) to trajectory generation of redundant manipulator through energy optimization. VEGAS is based on the virus theory of evolution, it has subpopulations that usually evolve independently. A virus infects host individuals in the same subpopulation. And a virus sometimes immigrates from a subpopulation to another subpopulation. The energy-optimized trajectory has successfully been found by VEGAS
Keywords :
genetic algorithms; path planning; redundancy; VEGAS; collision avoidance; energy optimization; redundant manipulator; subpopulation; subpopulations; trajectory generation; virus-evolutionary genetic algorithm; Collision avoidance; Computer simulation; DNA; Genetic algorithms; Genetic engineering; Genetic mutations; Manipulators; Orbital robotics; Power engineering and energy; Systems engineering and theory;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.565413
