The Motion Planning Based Genetic Algorithm For Wheeled Mobile Manipulator

被引：0
|
作者：
Zhang Shuosheng [1 ]
Liu Na [1 ]
机构：
[1] Beijing Inst Petrochem Technol, Informat Engn Coll, Dept Automat, Beijing 102617, Peoples R China
来源：
MATERIAL SCIENCE AND ENGINEERING TECHNOLOGY | 2012年 / 462卷
关键词：
wheeled mobile manipulator; motion planning; genetic algorithm;
D O I：
10.4028/www.scientific.net/AMR.462.141
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The motion planning problem of wheeled mobile manipulator is formulated as an optimal control problem, and optimal criterions for point-point planning and multi-point planning are given, then genetic algorithm to solve the optimal problem is described. The simulation examples are accomplished for point-point planning and multi-point planning and the results show the method is effective.
引用
收藏
页码：141 / 146
页数：6
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