Title :
Minor moves-global results: robot trajectory planning
Author :
Hyötyniemi, Heikki
Author_Institution :
Control Eng. Lab., Helsinki Univ. of Technol., Espoo, Finland
Abstract :
Two simple algorithms are used to find the global optimum in a parameter space of high dimension. Both algorithms are based on local optimization-the first one uses the gradient method, the other one modified Kohonen nets. The main topic of interest is how the qualitative features of the global optimum emerge as a consequence of iterated minor parameter adjustments. Planning the trajectory for a spray-painting robot is considered as an application example
Keywords :
optimisation; planning (artificial intelligence); robots; global optimum; gradient method; iterated minor parameter adjustments; local optimization; modified Kohonen nets; parameter space; qualitative features; robot trajectory planning; spray-painting robot; Control engineering; Neural networks; Orbital robotics; Painting; Paints; Robots; Space technology; Spraying; Technology planning; Trajectory;
Conference_Titel :
Tools for Artificial Intelligence, 1990.,Proceedings of the 2nd International IEEE Conference on
Conference_Location :
Herndon, VA
Print_ISBN :
0-8186-2084-6
DOI :
10.1109/TAI.1990.130303
