| Adaptive genetic algorithm for path planning of loosely coordinated multi-robot manipulators |
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| 引用本文： | 高胜,赵杰,蔡鹤皋. Adaptive genetic algorithm for path planning of loosely coordinated multi-robot manipulators[J]. 哈尔滨工业大学学报(英文版), 2003, 10(1) |
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| 作者姓名： | 高胜 赵杰 蔡鹤皋 |
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| 作者单位： | Robot Research Institute，Harbin Institute of Technology，Robot Research Institute，Harbin Institute of Technology，Robot Research Institute，Harbin Institute of Technology Harbin 150001，China，Harbin 150001，China，Harbin 150001，China |
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| 摘 要： | 0 ＩＮＴＲＯＤＵＣＴＩＯＮＵｓｉｎｇｍｕｌｔｉｐｌｅｒｏｂｏｔｓｉｎｃｏｏｒｄｉｎａｔｅｄｍａｎｎｅｒｃａｎｉｎ ｃｒｅａｓｅｐｒｏｄｕｃｔｉｖｉｔｙａｎｄｉｍｐｒｏｖｅｔｈｅｖｅｒｓａｔｉｌｉｔｙｉｎａｐｐｌｉｃａ ｔｉｏｎｔｏｃｏｍｐｌｅｘｔａｓｋｓ.Ｔｙｐｉｃａｌｌｙ ,ａｍｕｌｔｉ ｒｏｂｏｔｅｎｖｉｒｏｎ ｍｅｎｔｃｏｎｔａｉｎｓｔｗｏｔｙｐｅｓｏｆｃｏｏｒｄｉｎａｔｉｏｎｂｅｔｗｅｅｎｒｏｂｏｔｍａｎｉｐｕｌａｔｏｒｓ:ｔｉｇｈｔｃｏｏｒｄｉｎａｔｉｏｎａｎｄｌｏｏｓｅｃｏｏｒｄｉｎａｔｉ…
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Adaptive genetic algorithm for path planning of loosely coordinated multi-robot manipulators |
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| GAO Sheng,ZHAO Jie,CAI He gao. Adaptive genetic algorithm for path planning of loosely coordinated multi-robot manipulators[J]. Journal of Harbin Institute of Technology (New Series), 2003, 10(1) |
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| Authors: | GAO Sheng ZHAO Jie CAI He gao |
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| Abstract: | Adaptive genetic algorithm A SA GA, a novel algorithm, which can dynamically modify the parameters of Genetic Algorithms in terms of simulated annealing mechanism, is proposed for path planning of loosely coordinated multi robot manipulators. Over the task space of a multi robot, a strategy of decoupled planning is also applied to the evolutionary process, which enables a multi robot to avoid falling into deadlock and calculating of composite C space. Finally, two representative tests are given to validate A SA GA and the strategy of decoupled planning. |
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| Keywords: | multi robot path planning adaptive genetic algorithm simulated annealing decoupled planning |
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