论文信息 - Robot path planning using genetic algorithms

Robot path planning using genetic algorithms

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.

[1] Min Zhao,et al. Mobile manipulator path planning by a genetic algorithm , 1994, J. Field Robotics.

[2] Fang Sheng,et al. Genetic algorithms for optimal dynamic control of robot arms , 1993, Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics.

[3] D. E. Goldberg,et al. Genetic Algorithms in Search , 1989 .

[4] David E. Goldberg,et al. Genetic Algorithms in Search Optimization and Machine Learning , 1988 .

[5] Ronald C. Arkin,et al. Using Genetic Algorithms to Learn Reactive Control Parameters for Autonomous Robotic Navigation , 1994, Adapt. Behav..

[6] David E. Goldberg,et al. Inverse kinematics of redundant robots using genetic algorithms , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[7] John H. Holland,et al. Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control, and Artificial Intelligence , 1992 .

[8] Toshio Fukuda,et al. Coordinative behavior by genetic algorithm and fuzzy in evolutionary multi-agent system , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[9] J. K. Parker,et al. Obstacle avoidance of redundant manipulators using genetic algorithms , 1991, IEEE Proceedings of the SOUTHEASTCON '91.