A genetic technique for robotic trajectory planning
Created by W.Langdon from
gp-bibliography.bib Revision:1.7964
- @Article{Hein:1994:TI,
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author = "Carl Hein and Alex Meystel",
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title = "A genetic technique for robotic trajectory planning",
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journal = "Telematics and Informatics",
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year = "1994",
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volume = "11",
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pages = "351--364",
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number = "4",
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abstract = "There are many multi-stage optimisation problems that
are not easily solved through any known direct method
when the stages are coupled. For instance, the problem
of planning a vehicle's control sequence to negotiate
obstacles and reach a goal in minimum time is
investigated. The vehicle has a known mass, and the
controlling forces have finite limits. A genetic
programming technique is developed that finds
admissible control trajectories that tend to minimise
the vehicle's transit time through the obstacle field.
The immediate application is that of a space robot that
must rapidly traverse around two or three dimensional
structures via application of a rotating thruster or
non-rotating on-off thrusters. (An air-bearing floor
test-bed for such vehicles is located at the Marshal
Space Flight Center in Huntsville, Alabama.) It appears
that the developed method is applicable to a general
set of optimization problems in which the cost function
and the multi-dimensional multi-state system can be any
non-linear functions that are continuous in the
operating regions. Other applications include: the
planning of optimal navigation pathways through a
traversability graph, the planning of control input for
underwater manoeuvring vehicles which have complex
control state-space relationships, the planning of
control sequences for milling and manufacturing robots,
the planning of control and trajectories for automated
delivery vehicles, and the optimisation of control for
racing vehicles and athletic training in slalom
sports.",
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owner = "wlangdon",
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URL = "http://www.sciencedirect.com/science/article/B6V1H-48V1Y16-6/2/1a0f7979e649fe0ff30f590d6fc5e0b5",
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keywords = "genetic algorithms, genetic programming",
- }
Genetic Programming entries for
Carl Hein
Alex Meystel
Citations