Path planning of a snake-like robot based on serpenoid curve and genetic algorithms | |
Liu JG(刘金国)![]() ![]() ![]() ![]() | |
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)
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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. |
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