Rana, A.S. and Zalzala, A.M.S. (1997) Evolutionary Optimisation for Robot Motion. Research Report. ACSE Research Report 669 . Department of Automatic Control and Systems Engineering
Abstract
This paper presents a detailed analysis of a motion planner based on a genetic algorithms for collision free motion planning of robotic manipulators through simulation. The problem is formulated for a 2-DOF planar manipulator moving in the presence of a static circular obstacle in its operational space. The algorithm id then extended to 3-DOF planar manipulator moving among multiple static obstacles.
Metadata
Item Type: | Monograph |
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Authors/Creators: |
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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. |
Keywords: | Genetic algorithms; Robotic manipulators; Optimised collision free motion planning. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports |
Depositing User: | MRS ALISON THERESA BARNETT |
Date Deposited: | 16 Oct 2014 11:06 |
Last Modified: | 28 Oct 2016 16:12 |
Status: | Published |
Publisher: | Department of Automatic Control and Systems Engineering |
Series Name: | ACSE Research Report 669 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:81094 |