DocumentCode
2425340
Title
Reliable evolutionary-based command input generator for a simple mobile manipulation task
Author
Sakka, S. ; M´sirdi, N.K.
Author_Institution
Lab. de Robotique de Versailles, Velizy, France
fYear
2002
fDate
2002
Firstpage
362
Lastpage
367
Abstract
This paper studies the possibility of using the evolutionary approach to determine dynamic control of mobile manipulators on which very little information is known. To determine the feasibility of the approach, an evolutionary algorithm is set according to the control problem. Simulation uses a simple trajectory following task and existing robots modeled by their dynamical characteristics. Adaptation of the algorithm according to performance is presented.
Keywords
collision avoidance; evolutionary computation; manipulator dynamics; mobile robots; optimal control; position control; PUMA 560 manipulator; dynamical characteristics; evolutionary memory operator; mobile manipulation task; mobile manipulator dynamic control; nonholonomic mobile platform; obstacle avoidance; reliable evolutionary-based command input generator; trajectory following task; Actuators; Algorithm design and analysis; Design optimization; End effectors; Manipulator dynamics; Mobile robots; Performance evaluation; Robotics and automation; Testing; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on
Print_ISBN
0-7803-7545-9
Type
conf
DOI
10.1109/ROMAN.2002.1045649
Filename
1045649
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