Evolutionary collision-free optimal trajectory planning for intelligent robots

Saravanan, R.; Ramabalan, S.; Balamurugan, C.

doi:10.1007/s00170-007-0935-x

Cited by 18 publications

(19 citation statements)

References 19 publications

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“…On the other hand, a redundant manipulator with degree-ofredundancy (DOR) is well suited to a multiple criteria problem besides the basic motion task, such as obstacles avoidance, torque minimization, dexterity measures, task priority control, energy minimization [1][2][3][4][5][6][7][8][9][10][11][12][13].…”

Section: Problem Formulationmentioning

confidence: 99%

A GPU-Based Evolution Algorithm for Motion Planning of a Redundant Robot

Lin¹

2017

IRATJ

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Section: Problem Formulationmentioning

confidence: 99%

A GPU-Based Evolution Algorithm for Motion Planning of a Redundant Robot

Lin¹

2017

IRATJ

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“…In view of the functional analysis of the system, the need to complete the circuit design of the cleaning function module, the motion control function module, the human-computer interaction module, the safety detection module c, the route planning module and the power supply module [3] . Due to limited space, take the motion module as an example.…”

Section: Hardware Circuit Designmentioning

confidence: 99%

The Design of Intelligent Cleaning Robot

Wang¹,

Xiao²,

Xin³

et al. 2017

Proceedings of the 2017 2nd International Conference on Machinery, Electronics and Control Simulation (MECS 2017)

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Abstract. The purpose of this thesis is to design and produce a low cost, low energy consumption, easy to use, suitable for family life, can realize the automatic cleaning of the intelligent cleaning robot. This design adopts the structured design principle, the design of intelligent cleaning robot based on MSP430 microcontroller is divided into 6 modules: cleaning function module, motion control module, human-computer interaction module, security detection module, route planning module, power supply module. This design uses one button operation method, through the infrared sensor intelligent obstacle avoidance, the installation of bilateral brush and vacuum cleaners cleaning. After experiment, it is proved that the design is reasonable and feasible.

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“…In Saramago and Ceccarelli (2004), a path planning strategy that takes into account actuating energy has been developed. In Savavanan et al (2008), an evolutionary algorithm is applied in order to obtain collisionfree trajectories for the end effector. An evolutionary computation for the motion planning of a redundant manipulator has been considered in Da Graça et al (2010).…”

Section: Trajectories For Parallel Manipulators 415mentioning

confidence: 99%

“…Thus, different to the method proposed in Savavanan et al (2008), where the collision test takes only into account the endeffector trajectory, the method applied in this article considers possible collision of the whole manipulator. In Da Graça et al (2010), the collision test is implemented in the workspace, however, only 2D simulated representation are considered.…”

Section: Collision-free Motion Planningmentioning

confidence: 99%

“…For instance, surgical robot applications will benefit from the development of manipulators capable of avoiding collision with different elements involved in surgery (Lueth and Bier, 1999). Considerable research activity has been carried out in order to obtain optimal paths with serial robots, and the corresponding literature is very rich (Barraquand and Latombe, 1991;Berenson et al, 2009;Bohlin and Kavraki, 2000;Ceccarelli et al, 1996;Da Graça et al, 2010;Fang and Dissanayake, 1998;Gu and Ceccarelli, 2012;Khatib, 1986;Lahouar et al, 2006;Lin et al, 1983;Ong and Gilbert, 1998;Saramago and Valder, 2001;Saramago and Ceccarelli, 2004;Savavanan et al, 2008;Shin and Mckay, 1986;Simeon et al, 2000).…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Experimental Validation of Collision-Free Trajectories for Parallel Manipulators

Carbone

Gómez-Bravo

Selvi

2012

Mechanics Based Design of Structures and Machines

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This article proposes a systematic approach for validating the trajectories generated by a motion planning method in presence of obstacles for parallel manipulators having less than 6 degrees of freedom (d.o.f.s). The planning algorithm is based on combining a quick random search algorithm together with an optimization method, which aims to obtain feasible and reliable trajectories. The validation approach uses a probabilistic method, which includes Kalman filtering of experimental data. Experimental tests have been carried out by operating a Cassino Parallel Manipulator (CaPaMan) prototype at LARM in Cassino. Results are reported and discussed to show the effectiveness of the proposed approach to generate and validate suitable collision-free trajectories for parallel manipulators.

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Evolutionary collision-free optimal trajectory planning for intelligent robots

Cited by 18 publications

References 19 publications

A GPU-Based Evolution Algorithm for Motion Planning of a Redundant Robot

A GPU-Based Evolution Algorithm for Motion Planning of a Redundant Robot

The Design of Intelligent Cleaning Robot

An Experimental Validation of Collision-Free Trajectories for Parallel Manipulators

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