Co-evolutionary algorithm for motion planning of two industrial robots with overlapping workspaces regular paper

Ćurković, Petar and Jerbić, Bojan and Stipančić, Tomislav (2013) Co-evolutionary algorithm for motion planning of two industrial robots with overlapping workspaces regular paper. = Co-evolutionary algorithm for motion planning of two industrial robots with overlapping workspaces regular paper. International Journal of Advanced Robotic Systems, 10. pp. 1-11. ISSN 1729-8806. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q4 (2013). Točan broj autora: 3.

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Abstract

A high level of autonomy is a prerequisite for achieving robotic presence in a broad spectrum of work environments. If there is more than one robot in a given environment and the workspaces of robots are shared, then the robots present a dynamic obstacle to each other, which is a potentially dangerous situation. This paper deals with the problem of motion planning for two six-degrees-offreedom (DOF) industrial robots whose workspaces overlap. The planning is based on a novel hall of fame - Pareto-based co-evolutionary algorithm. The modification of the algorithm is directed towards speeding-up coevolution, to achieve real-time implementation in an industrial robotic system composed of two FANUC LrMate 200iC robots. The results of the simulation and implementation show the great potential of the method in terms of convergence, robustness and time.

Item Type:	Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian):	broad spectrum; co-evolution; co-evolutionary algorithm; dangerous situations; industrial robotic systems; multi-robot systems; real-time implementations; work environments; industrial robots; motion planning; optimization; real time control; robotics; evolutionary algorithms
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:	Q4 (2013)
Date Deposited:	06 May 2015 07:54
Last Modified:	25 Oct 2018 11:12
URI:	http://repozitorij.fsb.hr/id/eprint/4073

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