Volume 10, Issue 4 (12-2010)                   Modares Mechanical Engineering 2010, 10(4): 75-84 | Back to browse issues page

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Karimi M. Optimal Trajectory Planning and Obstacle Avoidance of a Manipulator in the Presence of Ellipsoidal Obstacles Using Genetic Algorithms. Modares Mechanical Engineering 2010; 10 (4) :75-84
URL: http://mme.modares.ac.ir/article-15-363-en.html
Optimal Trajectory Planning and Obstacle Avoidance of a Manipulator in the Presence of Ellipsoidal Obstacles Using Genetic Algorithms
Mahmood Karimi * 1
1- Department of Mechanical Engineering K. N. Toosi University of Technology
Abstract:   (9888 Views)
Abstract - In this paper, an optimal trajectory planning method is presented for robot manipulators with multiple degrees of freedom in 3D space using a new analytical technique for collision avoidance in the presence of ellipsoidal obstacles. To generate the robot’s trajectory, a genetic algorithm with a fuzzy mutation rate is introduced to have a quick access to optimal solutions in a complex workspace. A cubic spline interpolation polynomial is applied to approximate trajectories in the joint space. In order to optimize the objective function, the genetic algorithm determines a number of interior points for curve fitting using interpolation polynomials. The performance of the proposed technique is demonstrated by simulations.
Keywords: genetic algorithms, Optimal Trajectory Planning, Robot Manipulators, Fuzzy Mutation Rate, Collision-Free Conditions
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Received: 2006/07/5 | Accepted: 2010/11/5 | Published: 2011/03/5
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