Clonal Selection Algorithm with Oppositional Approach Applied to Trajectory Planning of a Robotic Manipulator

Abstract

A complex optimization problem in robotics is the optimum movement between certain physical configurations while minimizing certain criteria. The fundamental objective in movement planning for robot arms is to minimize movement time, total distance, joint torque, avoiding obstacles and the robot arm itself as an obstacle. This paper presents a study on clonal selection algorithm (CSA) and CSA with oppositional approach to optimize the 2D point to point movement of a 3-links robot arm. Simulations with MATLAB of the problem were implemented with both techniques to minimize an objective function depending on the mentioned criteria. Results of both methods are presented, showing that the CSA with oppositional approach presented better results than the classical CSA in terms of convergence and response quality.

Co-operative control of a team of autonomous underwater vehicles in an obstacle-rich environment

“…These factors result in a communication channel of poor quality, high latency and pose challenges different from terrestrial wireless networking. Both radio and optical techniques may be used for the transceiver purpose that specialises to very short distances (Das et al 2015;Dorigo & Di Caro 1999;Fabio & Maurizio 2005;Speranzon 2006;Jeronymo et al 2010). This is driving the design of new communication algorithms and network protocols across all layers of the system architecture (Nasipuri & Li 2002;Sozer et al 2000).…”

“…By using CSA, the current position are optimised in the same search space by maintenance of a memory set, selection and cloning of the most activated antibodies, death of non-activated antibodies, affinity maturation through the mutation process, reselection of clones proportional to the antigen affinity, generation and maintenance of diversity (Jeronymo et al 2010). This leads to an acceleration of the search process and a greater diversity of particles in the search space (Brownlee 2005).…”

“…For this reason, use of short-range acoustic modems and utilising a large number of underwater sensor nodes to cover the waypoint in a large oceanographic region is challenging (Sozer et al 2000). A CLONAL Selection Algorithm (CSA) is very much useful for nonlinear unconstrained optimisation problems (Jeronymo et al 2010). The artificial potential field (APF) is a virtual force field having advantage of both generating path and controlling the vehicle.…”