대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

유전알고리즘을 적용한 로봇의 장애물 충돌회피 및 경로추정

Collision Avoidance of Obstacles and Path Planning of the Robot applied Genetic Algorithm

  • 임진수 (동의대학교 전기공학과) ;
  • 김문수 (동의공업대학 전기공학과) ;
  • 이양무 (동의대학교 전기공학과)
  • Lim, Jin-Su (Dept. of Electrical Eng., Dong-Eui Univ.) ;
  • Kim, Moon-Su (Dept. of Electrical Eng., Dong-Eui Institute of Technology) ;
  • Lee, Yang-Woo (Dept. of Electrical Eng., Dong-Eui Univ.)
  • 발행 : 1999.07.19
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초록

This paper presents a method for solving the path planning problem for robot manipulators. The technique allows manipulators to move from a specified starting point to a goal without colliding with objects in two dimensional environment. Approximate cell decomposition with a greedy depth-first search algorithm is used to guide the end effector though Cartesian space and genetic algorithms are used to solve the joint variable for the robot manipulators.

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