LOGIN TO YOUR ACCOUNT

Username
Password
Remember Me
Or use your Academic/Social account:

CREATE AN ACCOUNT

Or use your Academic/Social account:

Congratulations!

You have just completed your registration at OpenAire.

Before you can login to the site, you will need to activate your account. An e-mail will be sent to you with the proper instructions.

Important!

Please note that this site is currently undergoing Beta testing.
Any new content you create is not guaranteed to be present to the final version of the site upon release.

Thank you for your patience,
OpenAire Dev Team.

Close This Message

CREATE AN ACCOUNT

Name:
Username:
Password:
Verify Password:
E-mail:
Verify E-mail:
*All Fields Are Required.
Please Verify You Are Human:
fbtwitterlinkedinvimeoflicker grey 14rssslideshare1
Chen, Mingwu; Zalzala, A.M.S. (1995)
Publisher: Department of Automatic Control and Systems Engineering
Languages: English
Types: Book
Subjects:

Classified by OpenAIRE into

arxiv: Computer Science::Robotics
This paper presents a genetic algorithm approach to multi-criteria motion planning of a mobile manipulator system considering position and configuration optimisation. Travelling distance and path safety are considered in planning the motion of the mobile system. A wave front expansion algorithm is used to build the numerical potential fields for both the goal and obstacles by representing the workspace as a grid. The unsafeness of a grid point is defined as the numerical potential produced by obstacles. For multi-criteria position and configuration optimisation, obstacle avoidance, least torque norm, manipulability and torque distribution are considered. The emphasis is put on using genetic algorithms to search for global optimum and solve the minimax problem for torque distribution. Various simulation results from two examples show that the proposed genetic algorithm approach performs better than conventional methods.
  • No references.
  • No related research data.
  • No similar publications.

Share - Bookmark

Cite this article