An Hierarchical Path Planner Using Memetic Evolution Algorithm For Manipulators
碩士 === 樹德科技大學 === 資訊工程學系 === 95 === In this thesis, an heirarchical algorithm is proposed for path planning of manipulators. The proposed algorithm consists of a global planner and a local planner. The cell-decomposition approach is adopted as the former to plan a trajectory for robot end-effector....
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2007
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| Online Access: | http://ndltd.ncl.edu.tw/handle/63642964856223127104 |
| Summary: | 碩士 === 樹德科技大學 === 資訊工程學系 === 95 === In this thesis, an heirarchical algorithm is proposed for path planning of manipulators. The proposed algorithm consists of a global planner and a local planner. The cell-decomposition approach is adopted as the former to plan a trajectory for robot end-effector. The Memetic algorithm with local search is adopted to plan the local motion of the manipulator. The local search procedure reduces the search space and speedups the evolution significantly. In this thesis, the local research is implemented by a potential minimization algorithm. The algorithm locally adjusts the robot configuration to search for minimum potential configurations using the repulsive force between manipulator and obstacles. Simulation results show that the proposed algorithm works well, in terms of collision avoidance and computation efficiency.
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