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Robot Trajectory Planning Using Multi-objective Genetic Algorithm Optimization
E.J. Solteiro Pires1, J.A. Tenreiro Machado2, and P.B. de Moura Oliveira1
1Universidade de Trás-os-Montes e Alto Douro, Dep. de Engenharia Electrotécnica, Quinta de Prados, 5000–911 Vila Real, Portugal
epires@utad.pt
oliveira@utad.pt
http://www.utad.pt/~epires
http://www.utad.pt/~oliveira
2Instituto Superior de Engenharia do Porto, Dep. de Engenharia Electrotécnica, Rua Dr. António Bernadino de Almeida, 4200-072 Porto, Portugal
jtm@dee.isep.ipp.pt
http://www.dee.isep.ipp.pt/~jtm
Abstract. Generating manipulator trajectories considering multiple objectives and obstacle avoidance is a non trivial optimization problem. In this paper a multi-objective genetic algorithm is proposed to address this problem. Multiple criteria are optimized up to five simultaneous objectives. Simulations results are presented for robots with two and three degrees of freedom, considering two and five objectives optimization. A subsequent analysis of the solutions distribution along the converged non-dominated Pareto front is carried out, in terms of the achieved diversity.
LNCS 3102, p. 615 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004