Automatic generation of collision-free programs for multiple manipulators using evolutive algorithms

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作者：
Dpto. Ingeniería de Sistemas, Univ. de Sevilla, Escuela Ingenieros, Camino de los Descubrimientos s/n, 41092 - Sevilla, Spain [1 ]
不详 [2 ]
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Comput. Intell. Appl. | / 239-244期
关键词：
Collision avoidance - Genetic algorithms - Motion planning - Multi agent systems - Optimization - Robots;
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摘要：
A method based on Evolutionary Algorithms for obtaining coordinated motion plans of multiple manipulator robots using a Decoupled Planning approach is presented. The problem has been decomposed in two subproblems: path planning of each robot independently of the other robots and trajectory planning, where the paths are synchronized. This paper is focused on the second problem. An evolutionary algorithm is proposed to generate free collision robot programs that minimise the total motion time of the robots along their paths.
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