The Motion Planning based Genetic Algorithm for Wheeled Mobile Manipulator

摘要：

In this paper, a motion planning method based genetic algorithm of wheeled mobile manipulator is presented. The motion planning problem is formulated as a optimal control problem, and using genetic algorithm to solve it. Optimal criterions for point-point planning and multi-point planning are given, then genetic algorithm to solve the optimal problem is described. The simulation examples are accomplished for point-point planning and multi-point planning.

关键词： wheeled mobile manipulator motion planning genetic algorithm

作者: Zhang Shuosheng Liu Na

作者单位: Department of Automation,Information Engineering college,Beijing Institute of Petro-Chemical Technology,Beijing,102617,P.R.China

会议类型: 国际会议

会议名称: 2011 3rd International Conference on Computer and Network Technology(ICCNT 2011)(2011第三届IEEE计算机与网络技术国际会议)

会议地点: 太原

会议语种:英文

页码: 506-509

在线出版日期: 2011-02-26（万方平台首次上网日期，不代表论文的发表时间）