Naslov
Dual-arm robot motion planning based on cooperative coevolution

Autori
Ćurković, Petar ; Jerbić, Bojan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Emerging trends in technological innovation / Camarinha-Matos, Luis M. ; Pereira Pedro ; Ribeiro Luis - Berlin : Heidelberg : Springer, 2010, 169-179

ISBN
978-3-642-11627-8

Skup
Doctoral conference on Computing, Electrical and Industrial Systems, DoCEIS 2010

Mjesto i datum
Lisabon, Portugal, 22.02.2010. - 24.02.2010

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
co-evolution ; path planning ; multi-objective optimization

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo, Strojarstvo

POVEZANOST RADA