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

Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)47-54
Number of pages8
JournalArtificial Life and Robotics
Volume19
Issue number1
DOIs
Publication statusPublished - Feb 2014

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Motion planning
Genetic algorithms

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 journalArticle

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