Robot trajectory plannig using multi-objective genetic algorithm optimization

Pires, E. J. Solteiro; Tenreiro Machado, J. A.; Oliveira, P. B. de Moura

http://hdl.handle.net/10400.22/13220

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Autores

Pires, E. J. Solteiro

Tenreiro Machado, J. A.

Oliveira, P. B. de Moura

Resumo(s)

Generating manipulator trajectories considering multiple objectives and obstacle avoidance is a non trivial optimization problem. In this paper a multi-objective genetic algorithm is proposed to address this problem. Multiple criteria are optimized up to five simultaneous objectives. Simulations results are presented for robots with two and three degrees of freedom, considering two and five objectives optimization. A subsequent analysis of the solutions distribution along the converged non-dominated Pareto front is carried out, in terms of the achieved diversity.

Palavras-chave

Genetic Algorithm Pareto Front Obstacle Avoidance Inverse Kinematic Robots

URI

http://hdl.handle.net/10400.22/13220

Editora

Springer

DOI

10.1007/978-3-540-24854-5_64

Coleções

ISEP – DEE – Comunicações em eventos científicos

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