Path planning for an omnidirectional mobile manipulator by evolutionary computation

Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Yutaka Kunitake

Research output: Contribution to conferencePaper

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
Pages135-140
Number of pages6
Publication statusPublished - Dec 1 1999
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

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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. 135-140. Paper presented at Proceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99), Adelaide, Aust, .