Abstract
A method of automatically optimizing gains is described for kinodynamic motion planning related to a controlled system consisting of a point mass. Kinodynamic motion planning proposed by Masoud has some gains and it is difficult to optimize such gains manually due to its interaction. Note, however, that any method for optimizing the gains has not been mentioned yet. Therefore, a method for optimizing all gains included in the kinodynamic motion planning is proposed by using a genetic algorithm.
| Original language | English |
|---|---|
| Pages (from-to) | 47-54 |
| Number of pages | 8 |
| Journal | Artificial Life and Robotics |
| Volume | 19 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - Feb 2014 |
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Keywords
- Control
- Kinodynamics
- Motion planning
- Potential field
ASJC Scopus subject areas
- Artificial Intelligence
- Biochemistry, Genetics and Molecular Biology(all)
Cite this
Offline gain optimization in kinodynamic motion planning based on a harmonic potential field. / Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi.
In: Artificial Life and Robotics, Vol. 19, No. 1, 02.2014, p. 47-54.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Offline gain optimization in kinodynamic motion planning based on a harmonic potential field
AU - Motonaka, Kimiko
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
PY - 2014/2
Y1 - 2014/2
N2 - A method of automatically optimizing gains is described for kinodynamic motion planning related to a controlled system consisting of a point mass. Kinodynamic motion planning proposed by Masoud has some gains and it is difficult to optimize such gains manually due to its interaction. Note, however, that any method for optimizing the gains has not been mentioned yet. Therefore, a method for optimizing all gains included in the kinodynamic motion planning is proposed by using a genetic algorithm.
AB - A method of automatically optimizing gains is described for kinodynamic motion planning related to a controlled system consisting of a point mass. Kinodynamic motion planning proposed by Masoud has some gains and it is difficult to optimize such gains manually due to its interaction. Note, however, that any method for optimizing the gains has not been mentioned yet. Therefore, a method for optimizing all gains included in the kinodynamic motion planning is proposed by using a genetic algorithm.
KW - Control
KW - Kinodynamics
KW - Motion planning
KW - Potential field
UR - http://www.scopus.com/inward/record.url?scp=84893874826&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893874826&partnerID=8YFLogxK
U2 - 10.1007/s10015-013-0129-6
DO - 10.1007/s10015-013-0129-6
M3 - Article
VL - 19
SP - 47
EP - 54
JO - Artificial Life and Robotics
JF - Artificial Life and Robotics
SN - 1433-5298
IS - 1
ER -