Dual-arm robot motion planning based on cooperative coevolution

Ćurković, Petar and Jerbić, Bojan (2010) Dual-arm robot motion planning based on cooperative coevolution. = Dual-arm robot motion planning based on cooperative coevolution. In: Doctoral conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, 22-24.02.2010., Lisabon, Portugal.

Dual-Arm Robot Motion Planning based on Cooperative Coevolution.pdf - Published Version Jezik dokumenta:English

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Official URL: https://link.springer.com/chapter/10.1007%2F978-3-...


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.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): co-evolution; path planning; multi-objective optimization
Subjects: TECHNICAL SCIENCE > Computing
TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Indexed in Web of Science: No
Indexed in Current Contents: No
Citations SCOPUS: 7 (21.09.2018.)
Date Deposited: 13 Apr 2015 07:57
Last Modified: 31 Jan 2019 14:25
URI: http://repozitorij.fsb.hr/id/eprint/3699

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