Path planning for an omnidirectional mobile manipulator by evolutionary computation

Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Yutaka Kunitake

Research output: Chapter in Book/Report/Conference proceedingChapter

8 Citations (Scopus)

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 languageEnglish
Title of host publicationInternational Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES
PublisherIEEE
Pages135-140
Number of pages6
Publication statusPublished - 1999
Externally publishedYes
EventProceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99) - Adelaide, Aust
Duration: Aug 31 1999Sep 1 1999

Other

OtherProceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99)
CityAdelaide, Aust
Period8/31/999/1/99

Fingerprint

Motion planning
Evolutionary algorithms
Cost functions
Manipulators
Splines
Boundary conditions
Robots

ASJC Scopus subject areas

  • Computer Science(all)

Cite this

Watanabe, K., Kiguchi, K., Izumi, K., & Kunitake, Y. (1999). Path planning for an omnidirectional mobile manipulator by evolutionary computation. In International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES (pp. 135-140). IEEE.

Path planning for an omnidirectional mobile manipulator by evolutionary computation. / Watanabe, Keigo; Kiguchi, Kazuo; Izumi, Kiyotaka; Kunitake, Yutaka.

International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES. IEEE, 1999. p. 135-140.

Research output: Chapter in Book/Report/Conference proceedingChapter

Watanabe, K, Kiguchi, K, Izumi, K & Kunitake, Y 1999, Path planning for an omnidirectional mobile manipulator by evolutionary computation. in International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES. IEEE, pp. 135-140, Proceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99), Adelaide, Aust, 8/31/99.
Watanabe K, Kiguchi K, Izumi K, Kunitake Y. Path planning for an omnidirectional mobile manipulator by evolutionary computation. In International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES. IEEE. 1999. p. 135-140
Watanabe, Keigo ; Kiguchi, Kazuo ; Izumi, Kiyotaka ; Kunitake, Yutaka. / Path planning for an omnidirectional mobile manipulator by evolutionary computation. International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES. IEEE, 1999. pp. 135-140
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