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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.
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