Abstract
We describe a method for the path planning of an omnidirectional mobile manipulator by applying an evolutionary strategy. For a path using B-spline, it is important how to choose some appropriate data points and the corresponding end points. The proposed approach automatically select their points in a wide range, minimizing or maximizing the total cost function, which consists of several sub-cost functions such as motion smoothness, movable range of joint, singular orientation and falling down. The simulation result shows that our method is effective for the path planning of a robot, which has many boundary conditions and complicated evaluation like a mobile manipulator considered here.
| Original language | English |
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| Pages | 135-140 |
| Number of pages | 6 |
| Publication status | Published - Dec 1 1999 |
| Externally published | Yes |
| Event | Proceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99) - Adelaide, Aust Duration: Aug 31 1999 → Sept 1 1999 |
Other
| Other | Proceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99) |
|---|---|
| City | Adelaide, Aust |
| Period | 8/31/99 → 9/1/99 |
ASJC Scopus subject areas
- Computer Science(all)