Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion

C. E. Cea-Montufar; E. A. Merchan-Cruz; J. Ramirez-Gordillo; E. Vergara-Hernandez; M. A. Cerro-Ramirez

doi:10.1109/LA-CCI.2018.8625213

Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion

C. E. Cea-Montufar, E. A. Merchan-Cruz, J. Ramirez-Gordillo, E. Vergara-Hernandez, M. A. Cerro-Ramirez

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a path planning strategy for robotic manipulators based on genetic algorithms and dual quaternions, designing a multi-objective function that allow trajectories be planned in an obstacle-free space and singularity-free kinematic restrictions for robotic manipulators as an optimization problem satisfying position and orientation conditions.

Original language	English
Title of host publication	2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538646250
DOIs	https://doi.org/10.1109/LA-CCI.2018.8625213
State	Published - 23 Jan 2019
Event	2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018 - Gudalajara, Mexico Duration: 6 Nov 2018 → 9 Nov 2018

Publication series

Name	2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018

Conference

Conference	2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018
Country/Territory	Mexico
City	Gudalajara
Period	6/11/18 → 9/11/18

Keywords

dual quaternion
multi-objective genetic algorithm
path planning
robot manipulator

Access to Document

10.1109/LA-CCI.2018.8625213

Cite this

Cea-Montufar, C. E., Merchan-Cruz, E. A., Ramirez-Gordillo, J., Vergara-Hernandez, E., & Cerro-Ramirez, M. A. (2019). Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion. In 2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018 Article 8625213 (2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/LA-CCI.2018.8625213

Cea-Montufar, C. E. ; Merchan-Cruz, E. A. ; Ramirez-Gordillo, J. et al. / Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion. 2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018. Institute of Electrical and Electronics Engineers Inc., 2019. (2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018).

@inproceedings{cb845b9539f04ba0b07b34c479c9e1dc,

title = "Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion",

abstract = "This paper presents a path planning strategy for robotic manipulators based on genetic algorithms and dual quaternions, designing a multi-objective function that allow trajectories be planned in an obstacle-free space and singularity-free kinematic restrictions for robotic manipulators as an optimization problem satisfying position and orientation conditions.",

keywords = "dual quaternion, multi-objective genetic algorithm, path planning, robot manipulator",

author = "Cea-Montufar, {C. E.} and Merchan-Cruz, {E. A.} and J. Ramirez-Gordillo and E. Vergara-Hernandez and Cerro-Ramirez, {M. A.}",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018 ; Conference date: 06-11-2018 Through 09-11-2018",

year = "2019",

month = jan,

day = "23",

doi = "10.1109/LA-CCI.2018.8625213",

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

series = "2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018",

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Cea-Montufar, CE, Merchan-Cruz, EA, Ramirez-Gordillo, J, Vergara-Hernandez, E & Cerro-Ramirez, MA 2019, Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion. in 2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018., 8625213, 2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018, Institute of Electrical and Electronics Engineers Inc., 2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018, Gudalajara, Mexico, 6/11/18. https://doi.org/10.1109/LA-CCI.2018.8625213

Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion. / Cea-Montufar, C. E.; Merchan-Cruz, E. A.; Ramirez-Gordillo, J. et al.
2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018. Institute of Electrical and Electronics Engineers Inc., 2019. 8625213 (2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion

AU - Cea-Montufar, C. E.

AU - Merchan-Cruz, E. A.

AU - Ramirez-Gordillo, J.

AU - Vergara-Hernandez, E.

AU - Cerro-Ramirez, M. A.

PY - 2019/1/23

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BT - 2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018

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Cea-Montufar CE, Merchan-Cruz EA, Ramirez-Gordillo J, Vergara-Hernandez E, Cerro-Ramirez MA. Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion. In 2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018. Institute of Electrical and Electronics Engineers Inc. 2019. 8625213. (2018 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2018). doi: 10.1109/LA-CCI.2018.8625213

Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion

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