GA based trajectory planner for robot manipulators sharing a common workspace with adaptive population size

E. A. Merchán-Cruz; G. Urriolagoitia-Sosa; J. Ramírez-Gordillo; R. Rodríguez-Cañizo; I. Y. Campos-Padilla; J. J. Muñoz-César; E. Lugo-González

doi:10.1109/CERMA.2008.65

GA based trajectory planner for robot manipulators sharing a common workspace with adaptive population size

E. A. Merchán-Cruz, G. Urriolagoitia-Sosa, J. Ramírez-Gordillo, R. Rodríguez-Cañizo, I. Y. Campos-Padilla, J. J. Muñoz-César, E. Lugo-González

Research output: Contribution to conference › Paper › peer-review

2 Scopus citations

Abstract

This paper presents a strategy to modify, on "the fly", the initial population size of a Genetic Algorithm Based Trajectory Planner for robot manipulators sharing a common workspace. Firstly, some considerations on the effect of varying the population size of the initial population size of the GA over the performance of the obtained paths are investigated. Finally, a fuzzy unit is implemented to adaptively modify the population size accordingly to the navigation conditions of the manipulator system, such as the magnitude of the potential field (used to model the manipulators as moving obstacles), error to goal, and whether or not the manipulators are moving along a stable trajectory. The considered cases correspond to two redundant dual manipulator systems, consisting of two 3 degrees of freedom (dof) and two 7 dof planar manipulators.

Original language	English
Pages	520-525
Number of pages	6
DOIs	https://doi.org/10.1109/CERMA.2008.65
State	Published - 2008
Event	Proceedings - 5th Meeting of the Electronics, Robotics and Automotive Mechanics Conference 2008, CERMA 2008 - Cuernavaca, Morelos, Mexico Duration: 30 Sep 2008 → 3 Oct 2008

Conference

Conference	Proceedings - 5th Meeting of the Electronics, Robotics and Automotive Mechanics Conference 2008, CERMA 2008
Country/Territory	Mexico
City	Cuernavaca, Morelos
Period	30/09/08 → 3/10/08

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10.1109/CERMA.2008.65

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Merchán-Cruz, E. A., Urriolagoitia-Sosa, G., Ramírez-Gordillo, J., Rodríguez-Cañizo, R., Campos-Padilla, I. Y., Muñoz-César, J. J., & Lugo-González, E. (2008). GA based trajectory planner for robot manipulators sharing a common workspace with adaptive population size. 520-525. Paper presented at Proceedings - 5th Meeting of the Electronics, Robotics and Automotive Mechanics Conference 2008, CERMA 2008, Cuernavaca, Morelos, Mexico. https://doi.org/10.1109/CERMA.2008.65

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abstract = "This paper presents a strategy to modify, on {"}the fly{"}, the initial population size of a Genetic Algorithm Based Trajectory Planner for robot manipulators sharing a common workspace. Firstly, some considerations on the effect of varying the population size of the initial population size of the GA over the performance of the obtained paths are investigated. Finally, a fuzzy unit is implemented to adaptively modify the population size accordingly to the navigation conditions of the manipulator system, such as the magnitude of the potential field (used to model the manipulators as moving obstacles), error to goal, and whether or not the manipulators are moving along a stable trajectory. The considered cases correspond to two redundant dual manipulator systems, consisting of two 3 degrees of freedom (dof) and two 7 dof planar manipulators.",

author = "Merch{\'a}n-Cruz, {E. A.} and G. Urriolagoitia-Sosa and J. Ram{\'i}rez-Gordillo and R. Rodr{\'i}guez-Ca{\~n}izo and Campos-Padilla, {I. Y.} and Mu{\~n}oz-C{\'e}sar, {J. J.} and E. Lugo-Gonz{\'a}lez",

year = "2008",

doi = "10.1109/CERMA.2008.65",

language = "Ingl{\'e}s",

pages = "520--525",

note = "Proceedings - 5th Meeting of the Electronics, Robotics and Automotive Mechanics Conference 2008, CERMA 2008 ; Conference date: 30-09-2008 Through 03-10-2008",

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Merchán-Cruz, EA , Urriolagoitia-Sosa, G, Ramírez-Gordillo, J, Rodríguez-Cañizo, R, Campos-Padilla, IY, Muñoz-César, JJ & Lugo-González, E 2008, 'GA based trajectory planner for robot manipulators sharing a common workspace with adaptive population size', Paper presented at Proceedings - 5th Meeting of the Electronics, Robotics and Automotive Mechanics Conference 2008, CERMA 2008, Cuernavaca, Morelos, Mexico, 30/09/08 - 3/10/08 pp. 520-525. https://doi.org/10.1109/CERMA.2008.65

GA based trajectory planner for robot manipulators sharing a common workspace with adaptive population size. / Merchán-Cruz, E. A.; Urriolagoitia-Sosa, G.; Ramírez-Gordillo, J. et al.
2008. 520-525 Paper presented at Proceedings - 5th Meeting of the Electronics, Robotics and Automotive Mechanics Conference 2008, CERMA 2008, Cuernavaca, Morelos, Mexico.

Research output: Contribution to conference › Paper › peer-review

TY - CONF

T1 - GA based trajectory planner for robot manipulators sharing a common workspace with adaptive population size

AU - Merchán-Cruz, E. A.

AU - Urriolagoitia-Sosa, G.

AU - Ramírez-Gordillo, J.

AU - Rodríguez-Cañizo, R.

AU - Campos-Padilla, I. Y.

AU - Muñoz-César, J. J.

AU - Lugo-González, E.

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AB - This paper presents a strategy to modify, on "the fly", the initial population size of a Genetic Algorithm Based Trajectory Planner for robot manipulators sharing a common workspace. Firstly, some considerations on the effect of varying the population size of the initial population size of the GA over the performance of the obtained paths are investigated. Finally, a fuzzy unit is implemented to adaptively modify the population size accordingly to the navigation conditions of the manipulator system, such as the magnitude of the potential field (used to model the manipulators as moving obstacles), error to goal, and whether or not the manipulators are moving along a stable trajectory. The considered cases correspond to two redundant dual manipulator systems, consisting of two 3 degrees of freedom (dof) and two 7 dof planar manipulators.

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Merchán-Cruz EA , Urriolagoitia-Sosa G, Ramírez-Gordillo J, Rodríguez-Cañizo R, Campos-Padilla IY, Muñoz-César JJ et al.. GA based trajectory planner for robot manipulators sharing a common workspace with adaptive population size. 2008. Paper presented at Proceedings - 5th Meeting of the Electronics, Robotics and Automotive Mechanics Conference 2008, CERMA 2008, Cuernavaca, Morelos, Mexico. doi: 10.1109/CERMA.2008.65

GA based trajectory planner for robot manipulators sharing a common workspace with adaptive population size

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