Title: A heuristic approach to robot path planning based on task requirements using a genetic algorithm
Authors: Sheu, CH
Young, KY
National Chiao Tung University
Institute of Electrical and Control Engineering
Keywords: task requirement;obstacle avoidance;genetic algorithm;heuristic approach;robot path planning;CAD/robot integration
Issue Date: 1-May-1996
Abstract: In order to enhance integration between CAD and robots, we propose a scheme to plan kinematically feasible paths in the presence of obstacles based on task requirements, Thus, the feasibility of a planned path from a CAD system is assured before the path is sent for execution. The proposed scheme uses a heuristic approach to deal with a rather complex search space, involving high-dimensional C-space obstacles and task requirements specified in Cartesian space. When the robot is trapped by the local minimum in the potential field related to the heuristic, a genetic algorithm is then used to find a proper intermediate location that will guide it to escape out of the local minimum. For demonstration, simulations based on using a PUMA-typed robot manipulator to perform different tasks in the presence of obstacles were conducted. The proposed scheme can also be used for mobile robot planning.
URI: http://hdl.handle.net/11536/1322
ISSN: 0921-0296
Volume: 16
Issue: 1
Begin Page: 65
End Page: 88
Appears in Collections:Articles