Path planning for an omnidirectional mobile manipulator by evolutionary computation

Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Yutaka Kunitake

Research output: Contribution to journalArticle

8 Citations (Scopus)

Abstract

We describe a method for the path planning of an omnidirectional mobile manipulator by applying an evolutionary strategy. For a path using B-spline, it is important how to choose some appropriate data points and the corresponding end points. The proposed approach automatically select their points in a wide range, minimizing or maximizing the total cost function, which consists of several sub-cost functions such as motion smoothness, movable range of joint, singular orientation and falling down. The simulation result shows that our method is effective for the path planning of a robot, which has many boundary conditions and complicated evaluation like a mobile manipulator considered here.

Original languageEnglish
Pages (from-to)135-140
Number of pages6
JournalUnknown Journal
Publication statusPublished - 1999
Externally publishedYes

Fingerprint

Motion planning
Evolutionary algorithms
Cost functions
Manipulators
cost
Splines
boundary condition
Boundary conditions
Robots
simulation
planning
method
evaluation

All Science Journal Classification (ASJC) codes

  • Computer Science(all)

Cite this

Path planning for an omnidirectional mobile manipulator by evolutionary computation. / Watanabe, Keigo; Kiguchi, Kazuo; Izumi, Kiyotaka; Kunitake, Yutaka.

In: Unknown Journal, 1999, p. 135-140.

Research output: Contribution to journalArticle

Watanabe, Keigo ; Kiguchi, Kazuo ; Izumi, Kiyotaka ; Kunitake, Yutaka. / Path planning for an omnidirectional mobile manipulator by evolutionary computation. In: Unknown Journal. 1999 ; pp. 135-140.
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