A genetic technique for robotic trajectory planning

Created by W.Langdon from gp-bibliography.bib Revision:1.4221

  author =       "Carl Hein and Alex Meystel",
  title =        "A genetic technique for robotic trajectory planning",
  journal =      "Telematics and Informatics",
  year =         "1994",
  volume =       "11",
  pages =        "351--364",
  number =       "4",
  abstract =     "There are many multi-stage optimisation problems that
                 are not easily solved through any known direct method
                 when the stages are coupled. For instance, the problem
                 of planning a vehicle's control sequence to negotiate
                 obstacles and reach a goal in minimum time is
                 investigated. The vehicle has a known mass, and the
                 controlling forces have finite limits. A genetic
                 programming technique is developed that finds
                 admissible control trajectories that tend to minimise
                 the vehicle's transit time through the obstacle field.
                 The immediate application is that of a space robot that
                 must rapidly traverse around two or three dimensional
                 structures via application of a rotating thruster or
                 non-rotating on-off thrusters. (An air-bearing floor
                 test-bed for such vehicles is located at the Marshal
                 Space Flight Center in Huntsville, Alabama.) It appears
                 that the developed method is applicable to a general
                 set of optimization problems in which the cost function
                 and the multi-dimensional multi-state system can be any
                 non-linear functions that are continuous in the
                 operating regions. Other applications include: the
                 planning of optimal navigation pathways through a
                 traversability graph, the planning of control input for
                 underwater manoeuvring vehicles which have complex
                 control state-space relationships, the planning of
                 control sequences for milling and manufacturing robots,
                 the planning of control and trajectories for automated
                 delivery vehicles, and the optimisation of control for
                 racing vehicles and athletic training in slalom
  owner =        "wlangdon",
  URL =          "http://www.sciencedirect.com/science/article/B6V1H-48V1Y16-6/2/1a0f7979e649fe0ff30f590d6fc5e0b5",
  keywords =     "genetic algorithms, genetic programming",

Genetic Programming entries for Carl Hein Alex Meystel