An Evolutionary Algorithm for the Collision Free Motion of Multi-Arm Robots.
Rana, A.S. and Zalzala, A.M.S.
(1995)
An Evolutionary Algorithm for the Collision Free Motion of Multi-Arm Robots.
Research Report.
ACSE Research Report 570
.
Department of Automatic Control and Systems Engineering
Abstract
This paper presents an evolutionary algorithm for the collision-free path planning of multi-arm robots. A global path planning technique is used where the paths are represented by a string of via-points which the robots have to pass through. The path planning algorithm uses evolutionary techniques to minimise path lengths, uneven distribution of via-points on the paths (decrease variation in velocity) and minimise the collision between the robots. Two particular features of this algorithm are that via-points are not limited to a fixed grid over the configuration space and customised operators are used in the GA-based search to improve the performance. Simulation results are presented for collision-free paths planned for two planner arms and then for two 3-DOF PUMA*-like arms moving in three dimensional operational space.
Metadata
Item Type:
Monograph
Authors/Creators:
Rana, A.S.
Zalzala, A.M.S.
Copyright, Publisher and Additional Information:
The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
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