article

Collision-Free Cartesian Trajectory Generation Using Raster Scanning and Genetic Algorithms

Authors:

Andreas C. Nearchou,

Nikos A. AspragathosAuthors Info & Claims

Journal of Intelligent and Robotic Systems, Volume 23, Issue 2-4

Pages 351 - 377

https://doi.org/10.1023/A:1008001930450

Published: 01 October 1998 Publication History

Abstract

An algorithm for Cartesian trajectory generation by redundant robots in environments with obstacles is presented. The algorithm combines a raster scanning technique, genetic algorithms and functions for interpolation in the joint coordinates space in order to approximate a desired Cartesian curve by the robot’s hand tip under maximum allowed position deviation. A raster scanning technique determines a minimal set of knot points on the desired curve in order to generate a Cartesian trajectory with bounded position approximation error. Genetic algorithms are used to determine an acceptable robot configuration under obstacle avoidance constraints corresponding to a knot point. Robot motion between two successive knot points is finally achieved using well known interpolation techniques in the joint coordinates space. The proposed algorithm is analyzed and its performance is demonstrated through simulated experiments carried out on planar redundant robots.

References

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Cited By

Dassanayake PWatanabe KKiguchi KIzumi K(2018)Robot manipulator task control with obstacle avoidance using fuzzy behavior-based strategyJournal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology10.5555/1314148.131415010:3,4(139-158)Online publication date: 27-Dec-2018
https://dl.acm.org/doi/10.5555/1314148.1314150

Collision-Free Cartesian Trajectory Generation Using Raster Scanning and Genetic Algorithms
1. Computer systems organization
  1. Embedded and cyber-physical systems
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
    2. Planning and scheduling

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Information

Published In

cover image Journal of Intelligent and Robotic Systems

Journal of Intelligent and Robotic Systems Volume 23, Issue 2-4

October 12, 1998

299 pages

ISSN:0921-0296

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Copyright © Copyright © 1998 Kluwer Academic Publishers.

Publisher

Kluwer Academic Publishers

United States

Publication History

Published: 01 October 1998

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Cited By

Dassanayake PWatanabe KKiguchi KIzumi K(2018)Robot manipulator task control with obstacle avoidance using fuzzy behavior-based strategyJournal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology10.5555/1314148.131415010:3,4(139-158)Online publication date: 27-Dec-2018
https://dl.acm.org/doi/10.5555/1314148.1314150

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