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 1 2014 |
Keywords
- Control
- Kinodynamics
- Motion planning
- Potential field
ASJC Scopus subject areas
- Biochemistry, Genetics and Molecular Biology(all)
- Artificial Intelligence
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Motonaka, K., Watanabe, K., & Maeyama, S. (2014). Offline gain optimization in kinodynamic motion planning based on a harmonic potential field. Artificial Life and Robotics, 19(1), 47-54. https://doi.org/10.1007/s10015-013-0129-6