A genetic algorithm based solution to constrained component placement of a mobile robot

In this study, a genetic algorithm based component placement method is presented. It is used to place the electrical and mechanical components of a hexapod robotic platform SensoRHex, a sensor rich variant of the RHex morphology. The aim is to find a feasible configuration of the components of the robotic platform. A feasible configuration not only avoids the collision of the components but also satisfies the constraints on the position and orientation of the components. An important goal is to keep the center of mass of the components close to the geometric center of the body frame of the robot.