Manipulator trajectory planning using a MOEA

• Author(s): Pires, E. J. Solteiro ; Oliveira, P. B. Moura ; Machado, J. A. Tenreiro
• Date: 2007
• Persistent ID: http://hdl.handle.net/10400.22/4589
• Origin: Repositório Científico do Instituto Politécnico do Porto
• Subject(s): Genetic algorithms; Multi-objective optimization; Robotic manipulators; Trajectory planning
• Document Type: Article
• Language: English

Description

Generating manipulator trajectories considering multiple objectives and obstacle avoidance is a non-trivial optimization problem. In this paper a multi-objective genetic algorithm based technique is proposed to address this problem. Multiple criteria are optimized considering up to five simultaneous objectives. Simulation results are presented for robots with two and three degrees of freedom, considering two and five objectives optimization. A subsequent analysis of the spread and solutions distribution along the converged non-dominated Pareto front is carried out, in terms of the achieved diversity.