Dual-arm robot motion planning based on cooperative coevolution (CROSBI ID 558856)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Ćurković, Petar ; Jerbić, Bojan
engleski
Dual-arm robot motion planning based on cooperative coevolution
This paper presents a cooperative coevolutionary approach to path planning for two robotic arms sharing common workspace. Each arm is considered an agent, required to find transition strategy from given initial to final configuration in the work space. Since the robots share workspace, they present dynamic obstacle to each other. To solve the problem of path planning in optimized fashion, we formulated it to multi-objective optimization domain and implemented coevolutionary algorithm to simultaneously optimize four conflicting objectives. End- effector trajectory length, end- effector velocity distribution, total rotate angle and number of collisions are the objectives to be optimized. Simulation results for two 2-R type robots are presented.
co-evolution ; path planning ; multi-objective optimization
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Podaci o prilogu
169-179.
2010.
objavljeno
10.1007/978-3-642-11628-5_18
Podaci o matičnoj publikaciji
Emerging trends in technological innovation
Camarinha-Matos, Luis M. ; Pereira Pedro ; Ribeiro Luis
Berlin : Heidelberg: Springer
978-3-642-11627-8
Podaci o skupu
Doctoral conference on Computing, Electrical and Industrial Systems, DoCEIS 2010
predavanje
22.02.2010-24.02.2010
Lisabon, Portugal