Path planning for an omnidirectional mobile manipulator by evolutionary computation

Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Yutaka Kunitake

研究成果: Contribution to conferencePaper査読

8 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ135-140
ページ数6
出版ステータス出版済み - 12 1 1999
外部発表はい
イベントProceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99) - Adelaide, Aust
継続期間: 8 31 19999 1 1999

会議

会議Proceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99)
CityAdelaide, Aust
Period8/31/999/1/99

All Science Journal Classification (ASJC) codes

  • コンピュータ サイエンス(全般)

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