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

SIA OpenIR > 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)
作者部门	机器人学研究室
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
会议主办者	IEEE
会议录名称	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
出版者	IEEE
出版地	New York
	2004
页码	4860- 4864
收录类别	EI
EI收录号	2004388367527
产权排序	1
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.
语种	英语
文献类型	会议论文
条目标识符	http://ir.sia.cn/handle/173321/8825
专题	机器人学研究室
作者单位	1.Robotics Laboratory, Chinese Academy of Sciences, Shenyang Institute of Automation, China 2.Department of Systems Engineering, Ibaraki University, Japan
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]//IEEE. New York:IEEE,2004:4860- 4864.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
HYQW000854.pdf（377KB）	会议论文		开放获取	CC BY-NC-SA	浏览下载