A genetic technique for robotic trajectory planning

Created by W.Langdon from gp-bibliography.bib Revision:1.7615

@Article{Hein:1994:TI,

• author = "Carl Hein and Alex Meystel",
• title = "A genetic technique for robotic trajectory planning",
• journal = "Telematics and Informatics",
• year = "1994",
• volume = "11",
• pages = "351--364",
• number = "4",
• 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.",
• owner = "wlangdon",
• URL = "http://www.sciencedirect.com/science/article/B6V1H-48V1Y16-6/2/1a0f7979e649fe0ff30f590d6fc5e0b5",
• keywords = "genetic algorithms, genetic programming",

}

Genetic Programming entries for Carl Hein Alex Meystel

Citations