進化戦略による全方向移動マニピュレータの軌道計画

• 渡辺 桂吾

• 泉 清高

• 国武 豊

• 木口 量夫

書誌事項

タイトル別名

• Path Planning for an Omnidirectional Mobile Manipulator by Evolutionary Strategy.
• シンカ センリャク ニ ヨル ゼン ホウコウ イドウ マニピュレータ ノ キドウ ケイカク

抄録

A path planning method is described for an omnidirectional mobile manipulator by applying an evolutionary strategy. For a path using B-spline, it is important to note how to choose some appropriate data points and the corresponding end points. The proposed approach can automatically select their points in a wide range, minimizing or maximizing the total cost function, which consists of several sub-cost functions such as motion smoothness, movable range of joint singular orientation, falling down and obstacle avoidance. The simulation result shows that our method is useful for the path planning of a robot, which has many constraints and complicated evaluation like a mobile manipulator considered here.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 67 (661), 2897-2904, 2001

  一般社団法人 日本機械学会

キーワード

• Holonomic Mobile Manipulator
• Evolutionary Strategy
• Optimization of B-spline
• Path Planning

詳細情報

• CRID: 1390001206357651072
• NII論文ID: 130004234210
• NII論文ID: 110002386372
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.67.2897
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 5921175
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I5921175
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/67/661/67_661_2897/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可