| 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)
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| Department | 机器人学研究室 |
| Conference Name | 5th World Congress on Intelligent Control and Automation |
| Conference Date | June 15-19, 2004 |
| Conference Place | Hangzhou, China |
| Author of Source | IEEE |
| Source Publication | Proceedings of the World Congress on Intelligent Control and Automation (WCICA) |
| Publisher | IEEE |
| Publication Place | New York |
| 2004 | |
| Pages | 4860- 4864 |
| Indexed By | EI |
| EI Accession number | 2004388367527 |
| Contribution Rank | 1 |
| Abstract | 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. |
| Language | 英语 |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/8825 |
| Collection | 机器人学研究室 |
| Affiliation | 1.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. |
| Files in This Item: | Download All | |||||
| File Name/Size | DocType | Version | Access | License | ||
| HYQW000854.pdf（377KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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