Robot path planning using genetic algorithms

Author

Toogood, Roger ; Hao, Hong ; Wong, Chi

Author_Institution

Dept. of Mech. Eng., Alberta Univ., Edmonton, Alta., Canada

Volume

1

fYear

1995

fDate

22-25 Oct 1995

Firstpage

489

Abstract

This paper describes the application of genetic algorithms (GAs) for finding a collision-free path for a 3-DOF revolute robot manipulator between specified start and goal configurations among known stationary obstacles. In addition to collision avoidance and staying within specified joint limits, the path can be optimized for minimum distance, time, joint torques, or some combination of these. Attention is focussed on the coding scheme to represent the robot trajectory in a form suitable for the GA, and in the fitness evaluation that is used to drive the GA towards convergence on the optimal path

Keywords

convergence; genetic algorithms; path planning; 3-DOF revolute robot manipulator; coding scheme; collision avoidance; collision-free path; convergence; fitness evaluation; genetic algorithms; joint limits; known stationary obstacles; path optimization; robot path planning; Collision avoidance; Design optimization; Genetic algorithms; Image coding; Manipulators; Mechanical engineering; Motion planning; Path planning; Robots; Search engines;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.537808

Filename

537808