Title :
Motion planning for a manipulator equipped on an underwater robot
Author :
Ishibashi, Shojiro ; Shimizu, Etsuro ; Ito, Masanori
Author_Institution :
Tokyo Univ. of Mercantile Marine, Japan
Abstract :
An approach for the motion planning of an underwater manipulator is described. This approach generates the secure path of the tip of the manipulator in its workspace, which includes obstacles, using the genetic algorithm. It also decides the manipulator´s posture to avoid obstacles using an evaluative function considering the drag force. In an environment setting with stationary obstacles or a dynamic obstacle, several experiments are made in order to confirm the validity of this approach
Keywords :
collision avoidance; genetic algorithms; manipulators; mobile robots; underwater vehicles; dynamic obstacle; genetic algorithm; manipulator posture; motion planning; secure path; stationary obstacles; underwater manipulator; underwater robot; Drag; Etching; Genetic algorithms; Manipulator dynamics; Marine vehicles; Motion planning; Path planning; Robots; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-7108-9
DOI :
10.1109/IECON.2001.976545
