Optimal Trajectories Synthesis of a Mobile Robots Group Using Cartesian Genetic Programming*
Created by W.Langdon from
gp-bibliography.bib Revision:1.8081
- @InProceedings{Diveev:2020:CoDIT,
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author = "Askhat Diveev and Galina Balandina",
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title = "Optimal Trajectories Synthesis of a Mobile Robots
Group Using Cartesian Genetic Programming*",
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booktitle = "2020 7th International Conference on Control, Decision
and Information Technologies (CoDIT)",
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year = "2020",
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volume = "1",
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pages = "130--135",
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abstract = "The paper is devoted to application of Cartesian
Genetic Programming (CGP) for generating optimal
trajectories of a mobile robots group. The problem of a
control system synthesis for a mobile robots group is
solved. The proposed algorithm uses numerical approach
from the class of symbolic regression methods to which
Cartesian Genetic Programming belonging. It allows to
receive a control function in the form of a
mathematical expression. We consider several stages to
get optimal trajectories for mobile robots group moving
along which the robots wouldn't collide with each other
and obstacles. Initially, we solve the problem of
synthesis for each robot in order to get the stabilized
robot control system relative some point in the state
space. At the second stage, spatial trajectories are
found along which robots move from the current state to
the obtained equilibrium points without collisions. It
was proposed to improve an initial algorithm by using
the principal of small variation of basic solution.
There is considered a group of three robots and the
control system for them with phase constraints in the
paper.",
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keywords = "genetic algorithms, genetic programming, cartesian
genetic programming, Robots, Optimal control,
Mathematical model, Collision avoidance, Trajectory,
Aerospace electronics",
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DOI = "doi:10.1109/CoDIT49905.2020.9263782",
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ISSN = "2576-3555",
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month = jun,
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notes = "Also known as \cite{9263782}",
- }
Genetic Programming entries for
Askhat Diveev Ibraghimovich
Galina Ivanova Balandina
Citations