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New method of optimal collision-free motion planning for underactuated robots

Liu Qingbo Yu Yueqing Su Liying (College of Mechanical Engineering,Beijing University of Technology,Beijing 100022,China)

Abstract: A new method of collision-free motion planning based on Genetic Algorithm （GA） for underactu- ated robots is proposed in this paper.The switching computed torque method is used and the thoughts of partly stable controllers are introduced,then the objective is fulfilled by the optimization of the energy based fitness function.Penalty method is utilized when there are obstacles in workspace and the constrained opti- mizations turns to be unconstrained ones,then the best switching sequence are obta... More
Keywords：

nonholonomic system; underactuated robots; motion planning; obstacle avoidance; genetic algorithm;

Conference Name：

2007’仪表，自动化及先进集成技术大会

Conference Time：

2007-12

Conference Place：

中国重庆

  • Series：

    (I) Electronic Technology ＆ Information Science

  • Subject：

    Automation Technology

  • Classification Code：

    TP242

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