文章基本信息

标题：Genetic Trajectory Planner for a Manipulator with Acceleration Parametrization
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作者：Young Dae Lee ; Beom Hee Lee
期刊名称：Journal of Universal Computer Science
印刷版ISSN：0948-6968
出版年度：1997
卷号：3
期号：9
页码：1056-1073
出版社：Graz University of Technology and Know-Center
摘要：This paper presents a genetic trajectory planning method of a robot manipulator producing the optimal trajectory between two end points. Genetic algorithm based methods seldom require a priori knowledge of a problem. Furthermore, they do not tend to fall into local optima and proceed toward the global optimum. However, they have difficulty in handling equality constraints of trajectory boundary conditions because they use probabilistic transition rules to find a solution. In this paper, we investigate the proper genetic trajectory parameterization and develop an efficient scheme for the implementation of genetic trajectory planner. We demonstrate the effectiveness and validity of the proposed approach through some simulation studies.