A genetic algorithm based solution to constrained component placement of a mobile robot

Abstract

In this study, a genetic algorithm based component placement method is presented. It is used to place the electrical and mechanical components of a hexapod robotic platform SensoRHex, a sensor rich variant of the RHex morphology. The aim is to find a feasible configuration of the components of the robotic platform. A feasible configuration not only avoids the collision of the components but also satisfies the constraints on the position and orientation of the components. An important goal is to keep the center of mass of the components close to the geometric center of the body frame of the robot.

Task planning based on the interpretation of spatial structures

“…The permutation p i defines the order in which objects in the robot workspace are manipulated (pick and place operation) from their initial position to a certain buffer position or the final position. For similar problems dealt with in [18,19], heuristics are used to generate a feasible initial solution set. The main purpose of the developed genetic algorithm for the robot task planning is the modification of permutations of objects and their respective position and orientation in the task plan.…”