Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4589
Título: Manipulator trajectory planning using a MOEA
Autor: Pires, E. J. Solteiro
Oliveira, P. B. Moura
Machado, J. A. Tenreiro
Palavras-chave: Genetic algorithms
Multi-objective optimization
Robotic manipulators
Trajectory planning
Data: 2007
Editora: Elsevier
Relatório da Série N.º: Applied Soft Computing; Vol. 7, Issue 3
Resumo: Generating manipulator trajectories considering multiple objectives and obstacle avoidance is a non-trivial optimization problem. In this paper a multi-objective genetic algorithm based technique is proposed to address this problem. Multiple criteria are optimized considering up to five simultaneous objectives. Simulation results are presented for robots with two and three degrees of freedom, considering two and five objectives optimization. A subsequent analysis of the spread and solutions distribution along the converged non-dominated Pareto front is carried out, in terms of the achieved diversity.
Peer review: yes
URI: http://hdl.handle.net/10400.22/4589
Versão do Editor: http://www.sciencedirect.com/science/article/pii/S1568494606000032
Aparece nas colecções:ISEP - DEE - Artigos

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