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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)
Department机器人学研究室
Conference Name5th World Congress on Intelligent Control and Automation
Conference DateJune 15-19, 2004
Conference PlaceHangzhou, China
Author of SourceIEEE
Source PublicationProceedings of the World Congress on Intelligent Control and Automation (WCICA)
PublisherIEEE
Publication PlaceNew York
2004
Pages4860- 4864
Indexed ByEI
EI Accession number2004388367527
Contribution Rank1
AbstractThe 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8825
Collection机器人学研究室
Affiliation1.Robotics Laboratory, Chinese Academy of Sciences, Shenyang Institute of Automation, China
2.Department of Systems Engineering, Ibaraki University, Japan
Recommended Citation
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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