Cooperative coevolution applied to dual-arm robot motion planning (CROSBI ID 566919)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Ćurković, Petar ; Jerbić, Bojan ; Stipančić, Tomislav
engleski
Cooperative coevolution applied to dual-arm robot motion planning
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 co-evolutionary 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. Experimental verification is conducted on two FANUC Lr Mate 200iC robots.
Planning ; coevolution ; multi-objective optimization ; dual arm robot
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Podaci o prilogu
132-137.
2010.
objavljeno
10.3182/20100701-2-PT-4011.00024
Podaci o matičnoj publikaciji
IFAC Proceedings Volumes
Paulo Leitao, Carlos Eduardo Pereira, Jose Barata
Lisabon: Universidade Nova de Lisboa, Instituto Politecnico de Braganca
978-3-902661-77-7
1474-6670
Podaci o skupu
10th IFAC Workshop on Intelligent Manufacturing Systems(IMS'10)
predavanje
01.07.2010-02.07.2010
Lisabon, Portugal
Povezanost rada
Računarstvo, Strojarstvo, Temeljne tehničke znanosti