Automatic Generation of Collision-Free Programs for Multiple Manipulators Using Evolutive Algorithms
A method based on Evolutionary Algorithms for obtaining coordinated motion plans of multiple manipulator robots using a Decoupled Planning approach is presented. The problem has been decomposed in two subproblems: path planning of each robot independently of the other robots and trajectory planning,...
| Autores: | , , , |
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| Tipo de recurso: | capítulo de libro |
| Estado: | Versión publicada |
| Fecha de publicación: | 1999 |
| País: | España |
| Institución: | Universidad de Sevilla (US) |
| Repositorio: | idUS. Depósito de Investigación de la Universidad de Sevilla |
| OAI Identifier: | oai:idus.us.es:11441/141541 |
| Acceso en línea: | https://hdl.handle.net/11441/141541 |
| Access Level: | acceso abierto |
| Palabra clave: | Evolutive algorithms Multirobot systems Motion planning |
| Sumario: | A method based on Evolutionary Algorithms for obtaining coordinated motion plans of multiple manipulator robots using a Decoupled Planning approach is presented. The problem has been decomposed in two subproblems: path planning of each robot independently of the other robots and trajectory planning, where the paths are synchronized. This paper is focused on the second problem. An evolutionary algorithm is proposed to generate free collision robot programs that minimize the total motion time of the robots along their paths |
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