6,183 research outputs found
The Ariadne's Clew Algorithm
We present a new approach to path planning, called the "Ariadne's clew
algorithm". It is designed to find paths in high-dimensional continuous spaces
and applies to robots with many degrees of freedom in static, as well as
dynamic environments - ones where obstacles may move. The Ariadne's clew
algorithm comprises two sub-algorithms, called Search and Explore, applied in
an interleaved manner. Explore builds a representation of the accessible space
while Search looks for the target. Both are posed as optimization problems. We
describe a real implementation of the algorithm to plan paths for a six degrees
of freedom arm in a dynamic environment where another six degrees of freedom
arm is used as a moving obstacle. Experimental results show that a path is
found in about one second without any pre-processing
Using Genetic Algorithms with Variable-length Individuals for Planning Two-Manipulators Motion
International Conference on Artificial Neural Networks and Genetic Algorithms. 01/01/1997. NorwichA method based on genetic algorithms for obtaining coordinated motion plans of manipulator robots is presented. A decoupled planning approach has been used; that is, the problem has been decomposed into two subproblems: path planning and trajectory planning. This paper focuses on the second problem. The generated plans minimize the total motion time of the robots along their paths. The optimization problem is solved by evolutionary algorithms using a variable-length individuals codification and specific genetic operators
An evolutionary algorithm for online, resource constrained, multi-vehicle sensing mission planning
Mobile robotic platforms are an indispensable tool for various scientific and
industrial applications. Robots are used to undertake missions whose execution
is constrained by various factors, such as the allocated time or their
remaining energy. Existing solutions for resource constrained multi-robot
sensing mission planning provide optimal plans at a prohibitive computational
complexity for online application [1],[2],[3]. A heuristic approach exists for
an online, resource constrained sensing mission planning for a single vehicle
[4]. This work proposes a Genetic Algorithm (GA) based heuristic for the
Correlated Team Orienteering Problem (CTOP) that is used for planning sensing
and monitoring missions for robotic teams that operate under resource
constraints. The heuristic is compared against optimal Mixed Integer Quadratic
Programming (MIQP) solutions. Results show that the quality of the heuristic
solution is at the worst case equal to the 5% optimal solution. The heuristic
solution proves to be at least 300 times more time efficient in the worst
tested case. The GA heuristic execution required in the worst case less than a
second making it suitable for online execution.Comment: 8 pages, 5 figures, accepted for publication in Robotics and
Automation Letters (RA-L
An Evolutionary and Local Search Algorithm for Motion Planning of Two Manipulators
A method for obtaining coordinated motion plans of robot manipulators is presented.
A decoupled planning approach has been used; that is, the problem has been
decomposed into two subproblems: path planning, where a collision-free path is
found for each robot independently only considering fixed obstacles, and trajectory
planning, where the paths are timed and synchronized to avoid collisions with other
robots. This article focuses on the second problem. The proposed plan can easily be
implemented by programs written in most industrial robot programming languages.
The generated programs minimize the total motion time of the robots along their
paths. The method does not require accurate dynamic models of the robots and uses
an evolutionary algorithm followed by a local search which produces near optimal
solutions with a relatively small computational cost
An Improved Differential Evolution Algorithm for Maritime Collision Avoidance Route Planning
High accuracy navigation and surveillance systems are pivotal to ensure efficient ship route planning and marine safety. Based on existing ship navigation and maritime collision prevention rules, an improved approach for collision avoidance route planning using a differential evolution algorithm was developed. Simulation results show that the algorithm is capable of significantly enhancing the optimized route over current methods. It has the potential to be used as a tool to generate optimal vessel routing in the presence of conflicts
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
No abstract available
Trajectory planning for industrial robot using genetic algorithms
En las últimas décadas, debido la importancia de sus aplicaciones, se han propuesto muchas investigaciones sobre la planificación de caminos y trayectorias para los manipuladores, algunos de los ámbitos en los que pueden encontrarse ejemplos de aplicación son; la robótica industrial, sistemas autónomos, creación de prototipos virtuales y diseño de fármacos asistido por ordenador. Por otro lado, los algoritmos evolutivos se han aplicado en muchos campos, lo que motiva el interés del autor por investigar sobre su aplicación a la planificación de caminos y trayectorias en robots industriales.
En este trabajo se ha llevado a cabo una búsqueda exhaustiva de la literatura existente relacionada con la tesis, que ha servido para crear una completa base de datos utilizada para realizar un examen detallado de la evolución histórica desde sus orígenes al estado actual de la técnica y las últimas tendencias.
Esta tesis presenta una nueva metodología que utiliza algoritmos genéticos para desarrollar y evaluar técnicas para la planificación de caminos y trayectorias. El conocimiento de problemas específicos y el conocimiento heurístico se incorporan a la codificación, la evaluación y los operadores genéticos del algoritmo.
Esta metodología introduce nuevos enfoques con el objetivo de resolver el problema de la planificación de caminos y la planificación de trayectorias para sistemas robóticos industriales que operan en entornos 3D con obstáculos estáticos, y que ha llevado a la creación de dos algoritmos (de alguna manera similares, con algunas variaciones), que son capaces de resolver los problemas de planificación mencionados.
El modelado de los obstáculos se ha realizado mediante el uso de combinaciones de objetos geométricos simples (esferas, cilindros, y los planos), de modo que se obtiene un algoritmo eficiente para la prevención de colisiones.
El algoritmo de planificación de caminos se basa en técnicas de
optimización globales, usando algoritmos genéticos para minimizar una función
objetivo considerando restricciones para evitar las colisiones con los obstáculos. El
camino está compuesto de configuraciones adyacentes obtenidas mediante una
técnica de optimización construida con algoritmos genéticos, buscando minimizar
una función multiobjetivo donde intervienen la distancia entre los puntos
significativos de las dos configuraciones adyacentes, así como la distancia desde
los puntos de la configuración actual a la final. El planteamiento del problema
mediante algoritmos genéticos requiere de una modelización acorde al
procedimiento, definiendo los individuos y operadores capaces de proporcionar
soluciones eficientes para el problema.Abu-Dakka, FJM. (2011). Trajectory planning for industrial robot using genetic algorithms [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/10294Palanci
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