Offline gain optimization in kinodynamic motion planning based on a harmonic potential field

Kimiko Motonaka; Keigo Watanabe; Shoichi Maeyama

doi:10.1007/s10015-013-0129-6

Offline gain optimization in kinodynamic motion planning based on a harmonic potential field

Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

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	https://doi.org/10.1007/s10015-013-0129-6
Publication status	Published - Feb 2014

Keywords

Control
Kinodynamics
Motion planning
Potential field

ASJC Scopus subject areas

Biochemistry, Genetics and Molecular Biology(all)
Artificial Intelligence

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10.1007/s10015-013-0129-6

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