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 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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