Using Genetic Algorithms with Variable-length Individuals for Planning Two-Manipulators Motion
A method based on genetic algorithms for obtaining coordinated motion plans of manipulator robots is presented. A decoupled planning approach has been used; that is, the problem has been decomposed into two subproblems: path planning and trajectory planning. This paper focuses on the second problem. The generated plans minimize the total motion time of the robots along their paths. The optimization problem is solved by evolutionary algorithms using a variable-length individuals codification and specific genetic operators.
KeywordsPath Planning Genetic Operator Lower Left Corner Collision Region Total Motion Time
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