Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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Path-smoothing for a robot arm manipulator using a Gaussian process

  • Park, So-Youn (Dept. of Electrical Engineering Korea Advanced Institute of Science and Technology) ;
  • Lee, Ju-Jang (Dept. of Electrical Engineering Korea Advanced Institute of Science and Technology)
  • Received : 2015.09.23
  • Accepted : 2015.10.28
  • Published : 2015.11.30
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Abstract

In this paper, we present a path-smoothing algorithm for a robot arm manipulator that finds the path using a joint space-based rapidly-exploring random tree. Unlike other smoothing algorithms which require complex mathematical computation, the proposed path-smoothing algorithm is done using a Gaussian process. To find the optimal hyperparameters of the Gaussian process, we use differential evolution hybridized with opposition-based learning. The simulation result indicates that the Gaussian process whose hyperparameters were optimized by hybrid differential evolution successfully smoothed the path generated by the joint space-based rapidly-exploring random tree.

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References

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