Paper Info
Title
Using genetic algorithms for robot motion planning
Abstract
We present an ongoing research work on robot motion planning using genetic algorithms. Our goal is to use this technique to build fast motion planners for robot with six or more degree of freedom. After a short review of the existing methods, we will introduce the genetic algorithms by showing how they can be used to solve the invers kinematic problem. In the second part of the paper, we show that the path planning problem can be expressed as an optimization problem and thus solved with a genetic algorithm. We illustrate the approach by building a path planner for a planar arm with two degree of freedom, then we demonstrate the validity of the method by planning paths for an holonomic mobile robot. Finally we describe an implementation of the selected genetic algorithm on a massively parallel machine and show that fast planning response is made possible by using this approach. Keywords: robot motion planning, genetic algorithms, parallel algorithms
Year
DOI
Venue
1992
10.1007/3-540-57132-9_6
Geometric Reasoning for Perception and Action
Keywords
DocType
Volume
genetic algorithms,robot motion planning,genetic algorithm,path planning,parallel algorithm,parallel algorithms,degree of freedom,mobile robot,optimization problem
Conference
708
ISBN
Citations 
PageRank 
0-471-93608-1
23
12.57
References 
Authors
3
4
Name
Order
Citations
PageRank
Juan Manuel Ahuactzin18425.07
El-Ghazali Talbi22186179.85
Pierre Bessière342586.40
Emmanuel Mazer427258.70