Ćurković, Petar and Jerbić, Bojan and Stipančić, Tomislav (2013) Coordination of robots with overlapping workspaces based on motion co-evolution. = Coordination of robots with overlapping workspaces based on motion co-evolution. International Journal of Simulation Modelling, 12 (1). pp. 27-38. ISSN 1726-4529. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q1 (2013). Točan broj autora: 3.
|
Text
Coordination_Curkovic.pdf Jezik dokumenta:English Download (719kB) | Preview |
Abstract
The level of autonomy is the most important feature by which the modern robotic systems development is directed. Furthermore, if the robots are supposed to work together in order to solve a complex task, their workspaces are shared. In this case, the robots present dynamic obstacle to each other. This paper presents a solution of the problem of motion coordination of two robots with overlapping workspaces based on co-evolutionary algorithm for simultaneous motion planning of the two robots. A method for exact calculation of the solution coding chromosome length based on physical limitations of the robots is proposed. The algorithm is evaluated in a simulation environment developed in Matlab. Implementation to the real industrial FANUC Lr Mate 200iC robots is performed. The simulation and implementation show high potential in terms of convergence robustness and time.
| Item Type: | Article (["eprint_fieldopt_article_type_article" not defined]) |
|---|---|
| Keywords (Croatian): | co-evolutionary algorithm; industrial robots; motion planning |
| 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: | Yes |
| Indexed in Current Contents: | Yes |
| Quartiles: | Q1 (2013) |
| Date Deposited: | 06 May 2015 10:48 |
| Last Modified: | 28 Mar 2019 14:03 |
| URI: | http://repozitorij.fsb.hr/id/eprint/4068 |
Actions (login required)
 |
View Item |
Download Statistics
Download Statistics