Variable Structure GA Based Motion Planning of a Three-limbed Robot

摘要：

A novel progressive genetic algorithm was developed for motion planning of a three-limbed robot. The proposed motion planning method can be used to find a optimal joints trajectory from the initial to the final position and orientation. On the basis of the genetic algorithm a kind of variable structure genetic algorithm was proposed to solve the problem of motion planning of the threelimbed in dynamic environments. The variable structure genetic algorithm changes the original structure by abandoning Elitist Model, expectation selection, reproducing population and changing the probability of crossover and mutation. Experiments results show that the former algorithm is effective in static environments and the latter algorithm is adapted to dynamic environments.

关键词： three-limbed-robot motion planning variable structure genetic algorithm human-Robot interface

作者: Ming Pang ZhiYuan Liu ShouChen Cai Zongwei Ren Yanhe Zhu

作者单位: No.49 Research Institute China Electronic Technology Corporation Harbin,China Robot Research Institute Harbin Institute of Technology Harbin,China

会议类型: 国际会议

会议名称: 2009 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2009)(2009年检测技术与机械自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 1463-1466

在线出版日期: 2009-04-11（万方平台首次上网日期，不代表论文的发表时间）