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A genetic path planning algorithm for redundant articulated robots

Published online by Cambridge University Press:  01 March 1997

Andreas C. Nearchou  and
Nikos A. Aspragathos
Andreas C. Nearchou
Affiliation:
Department of Mechanical Engineering, University of Patras, 26 100 Patras, Greece. E-mail: nearchou@upatras.gr, asprag@mech.upatras.gr
Nikos A. Aspragathos
Affiliation:
Department of Mechanical Engineering, University of Patras, 26 100 Patras, Greece. E-mail: nearchou@upatras.gr, asprag@mech.upatras.gr
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Abstract

In some daily tasks, such as pick and place, the robot is requested to reach with its hand tip a desired target location while it is operating in its environment. Such tasks become more complex in environments cluttered with obstacles, since the constraint for collision-free movement must be also taken into account. This paper presents a new technique based on genetic algorithms (GAs) to solve the path planning problem of articulated redundant robot manipulators. The efficiency of the proposed GA is demonstrated through multiple experiments carried out on several robots with redundant degrees-of-freedom. Finally, the computational complexity of the proposed solution is estimated, in the worst case.

Keywords

Genetic algorithmsPath planningObstacle avoidanceRedundant robots
Type
Research Article
Information
Robotica , Volume 15 , Issue 2 , March 1997 , pp. 213 - 224
Copyright
© 1997 Cambridge University Press

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