By Topic

An evolutionary algorithm for collision free motion planning of multi-arm robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $33
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
A. S. Rana ; Sheffield Univ., UK ; A. M. S. Zalzala

This paper presents an evolutionary algorithm for collision-free path planning of multi-arm robots. A global path planning technique is used to plan paths for two robots. The paths are represented by a string of via-points which the robots have to pass through. The path planning algorithm uses evolutionary techniques to minimise path lengths, uneven distribution of via-points on the paths to minimise variation in velocity and to minimise the collision between the robots. This algorithm is different from previously reported GA (genetic algorithms) based path planners in that the via-points are not limited to lie on points on a fixed grid over the workspace of the robot and have not been encoded as binary numbers. Simulation results are presented for collision-free paths planned for two planner arms and then for two 3-DOF PUMA-like arms moving in three dimensional operational space

Published in:

Genetic Algorithms in Engineering Systems: Innovations and Applications, 1995. GALESIA. First International Conference on (Conf. Publ. No. 414)

Date of Conference:

12-14 Sep 1995