Path planning of a snake-like robot based on serpenoid curve and genetic algorithms

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Path planning of a snake-like robot based on serpenoid curve and genetic algorithms
	Liu JG(刘金国); Wang YC(王越超); Li B(李斌); Ma SG(马书根)
	2004
会议名称	5th World Congress on Intelligent Control and Automation
会议日期	June 15-19, 2004
会议地点	Hangzhou, China
页码	4860- 4864
中文摘要	The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on serpenoid curve and genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang Institute of Automation (SIA, China). First, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of genetic algorithms. Then using real time dual genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more available than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.
收录类别	EI
产权排序	1
会议主办者	IEEE
会议录	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8825]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu JG,Wang YC,Li B,et al. Path planning of a snake-like robot based on serpenoid curve and genetic algorithms[C]. 见:5th World Congress on Intelligent Control and Automation. Hangzhou, China. June 15-19, 2004.