An evolutionary and local search algorithm for planning two manipulators motion

  • M. A. Ridao
  • J. Riquelme
  • E. F. Camacho
  • M. Toro
1 Synthesis Tasks Motion Planning for Robots

DOI: 10.1007/3-540-64574-8_396

Part of the Lecture Notes in Computer Science book series (LNCS, volume 1416)
Cite this paper as:
Ridao M.A., Riquelme J., Camacho E.F., Toro M. (1998) An evolutionary and local search algorithm for planning two manipulators motion. In: Pasqual del Pobil A., Mira J., Ali M. (eds) Tasks and Methods in Applied Artificial Intelligence. IEA/AIE 1998. Lecture Notes in Computer Science (Lecture Notes in Artificial Intelligence), vol 1416. Springer, Berlin, Heidelberg

Abstract

A method based on the union of an Evolutionary Algorithm (EA) and a local search algorithm for obtaining coordinated motion plans of two manipulator robots is presented. A Decoupled Planning Approach has been used. For this purpose, the problem has been decomposed into two subproblems: path planning, where a collision-free path is found for each robot independently of the other, only considering fixed obstacles; and trajectory planning, where the paths are timed and synchronized in order to avoid collision with the other robot. This paper focuses on the second problem. A method is presented to minimize the total motion time of two manipulators along their paths, avoiding collision regardless of the accuracy of the dynamic model used. A hybrid technique with EA and local search methods has been implemented.

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Copyright information

© Springer Verlag 1998

Authors and Affiliations

  • M. A. Ridao
    • 1
  • J. Riquelme
    • 2
  • E. F. Camacho
    • 1
  • M. Toro
    • 2
  1. 1.Dpto. Ingeniería de Sistemas y AutomáticaUniversidad de SevillaSpain
  2. 2.Dpto. Lenguajes y Sistemas InformáticosUniversidad de SevillaSpain

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