Manipulator trajectory planning using a MOEA

Detalhes bibliográficos
Autor(a) principal: Pires, E. J. Solteiro
Data de Publicação: 2007
Outros Autores: Oliveira, P. B. Moura, Machado, J. A. Tenreiro
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/4589
Resumo: Generating manipulator trajectories considering multiple objectives and obstacle avoidance is a non-trivial optimization problem. In this paper a multi-objective genetic algorithm based technique is proposed to address this problem. Multiple criteria are optimized considering up to five simultaneous objectives. Simulation results are presented for robots with two and three degrees of freedom, considering two and five objectives optimization. A subsequent analysis of the spread and solutions distribution along the converged non-dominated Pareto front is carried out, in terms of the achieved diversity.
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spelling Manipulator trajectory planning using a MOEAGenetic algorithmsMulti-objective optimizationRobotic manipulatorsTrajectory planningGenerating manipulator trajectories considering multiple objectives and obstacle avoidance is a non-trivial optimization problem. In this paper a multi-objective genetic algorithm based technique is proposed to address this problem. Multiple criteria are optimized considering up to five simultaneous objectives. Simulation results are presented for robots with two and three degrees of freedom, considering two and five objectives optimization. A subsequent analysis of the spread and solutions distribution along the converged non-dominated Pareto front is carried out, in terms of the achieved diversity.ElsevierRepositório Científico do Instituto Politécnico do PortoPires, E. J. SolteiroOliveira, P. B. MouraMachado, J. A. Tenreiro2014-06-25T14:42:13Z20072007-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/4589eng10.1016/j.asoc.2005.06.009info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:44:42Zoai:recipp.ipp.pt:10400.22/4589Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:25:25.553541Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Manipulator trajectory planning using a MOEA
title Manipulator trajectory planning using a MOEA
spellingShingle Manipulator trajectory planning using a MOEA
Pires, E. J. Solteiro
Genetic algorithms
Multi-objective optimization
Robotic manipulators
Trajectory planning
title_short Manipulator trajectory planning using a MOEA
title_full Manipulator trajectory planning using a MOEA
title_fullStr Manipulator trajectory planning using a MOEA
title_full_unstemmed Manipulator trajectory planning using a MOEA
title_sort Manipulator trajectory planning using a MOEA
author Pires, E. J. Solteiro
author_facet Pires, E. J. Solteiro
Oliveira, P. B. Moura
Machado, J. A. Tenreiro
author_role author
author2 Oliveira, P. B. Moura
Machado, J. A. Tenreiro
author2_role author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Pires, E. J. Solteiro
Oliveira, P. B. Moura
Machado, J. A. Tenreiro
dc.subject.por.fl_str_mv Genetic algorithms
Multi-objective optimization
Robotic manipulators
Trajectory planning
topic Genetic algorithms
Multi-objective optimization
Robotic manipulators
Trajectory planning
description Generating manipulator trajectories considering multiple objectives and obstacle avoidance is a non-trivial optimization problem. In this paper a multi-objective genetic algorithm based technique is proposed to address this problem. Multiple criteria are optimized considering up to five simultaneous objectives. Simulation results are presented for robots with two and three degrees of freedom, considering two and five objectives optimization. A subsequent analysis of the spread and solutions distribution along the converged non-dominated Pareto front is carried out, in terms of the achieved diversity.
publishDate 2007
dc.date.none.fl_str_mv 2007
2007-01-01T00:00:00Z
2014-06-25T14:42:13Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
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status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/4589
url http://hdl.handle.net/10400.22/4589
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1016/j.asoc.2005.06.009
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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