Obstacle Avoidance in Multi-robot Systems: Experiments in Parallel Genetic AlgorithmsObstacle Avoidance in Multi-robot Systems: Experiments in Parallel Genetic Algorithms offers a novel framework for solving the path planning problem for robot manipulators. Simple and efficient solutions are proposed for the path planning problem based on genetic algorithms. One of the attractive features of genetic algorithms is their ability to solve formidable problems in a robust and straightforward manner. Moreover, genetic algorithms are inherently parallel in nature, which makes them ideal candidates for parallel computing implementations.By combining the robustness of genetic algorithms with the power of parallel computers, this book provides an effective and practical approach to solving path planning problems. The book gives details of implementations that allow a better understanding of the complexities involved in the development of parallel path planning algorithms. The material presented is interdisciplinary in nature ? it combines topics from robotics, genetic algorithms, and parallel processing. The book can be used by practitioners and researchers in computer science and engineering. |
Contents
Preface | 1 |
Search Techniques | 53 |
Inverse Kinematics | 66 |
Collision Detection | 83 |
Collision Avoidance | 114 |
Examples | 134 |
Discussion Conclusions and Future Work | 155 |
References | 161 |
Parallel Line Proof | 177 |
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Common terms and phrases
approximate cell decomposition architecture cartesian space Cell tree Chapter collision avoidance algorithm collision detection collision free collisions Sample Conference on Robotics configuration space coordinate Crossover Data stream end-effector environment Equation error fitness function Genetic Algorithms goal heuristic Hwang and Ahuja IEEE International Conference implementation Instruction stream inverse kinematics inverse kinematics problem joint variables Journal of Robotics Latombe line segment Link Link Link parameters Lozano-Perez machine manipulator moves method MIMD minimum distance motion planning problem multiplexer NP-complete objects Obstacle Avoidance operation optimal parallel algorithm parallel computing parallel processing path planning path planning problem performance plane polygon polyhedron polyhedron polyhedron position potential field Proceedings processing units real-time systems refer to Figure rithm Robot Control robot manipulators Robotics and Automation sensors shown in Figure SIMD Simulated Annealing SISD slave process solution solve speed speed-up strings substring Table techniques trajectory transputers v₁ vector workspace Zomaya