Mater-slave type co-evolution method for path planning of mobile manipulator in three-dimensional space

A mobile manipulator and path planning technology, applied in manipulators, program-controlled manipulators, genetic models, etc., can solve problems such as the inability to "joint population" evolution operations, and achieve the effect of excellent overall performance and collision prevention.

Inactive Publication Date: 2012-09-19
ZHEJIANG UNIV
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  • Abstract
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Problems solved by technology

[0005] The disadvantages of the co-evolution genetic method are as follows: First, for two populations with obvious differences, it is more difficult to cooperate, because the co-evolution method does not affect the evolution within the population, it only uses the environmental model to analyze the evolution of each population. On behalf of the "joint population" formed by the evolutionary operation and get a new fitness to return to the original population, if the difference between the populations is too large, it can lead to the inability to perform evolutionary operations on the "joint population"

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  • Mater-slave type co-evolution method for path planning of mobile manipulator in three-dimensional space
  • Mater-slave type co-evolution method for path planning of mobile manipulator in three-dimensional space
  • Mater-slave type co-evolution method for path planning of mobile manipulator in three-dimensional space

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Embodiment Construction

[0022] The patent of the present invention uses the master-slave co-evolution method to realize the path planning of the mobile manipulator in three-dimensional space. The principle of this method is: imitating the social activities of human beings, there are always some people in the dominant position in group activities, leading the development direction of the whole group, and the other part of people is in a subordinate position, helping to promote the development of the group. Moreover, this status is not constant, but changes with the environment faced and the contribution of personal experience to the group. In the mobile manipulator described in this paper, the mobile platform and the manipulator are included, and the roles of leader and assistant are assigned to these two subsystems.

[0023] Firstly, the mobile platform acts as the leader, completes the path planning on the ground, and obtains an optimal path. Then the assistant-the robotic arm completes its own tas...

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Abstract

The invention discloses a master-slave type co-evolution method for path planning of mobile manipulators in three-dimensional space. The method can ensure an optimal performance of an integral system instead of the optimal performance of sub-systems. In particular, collision is effectively avoided and a better path is found when both spacial barriers and ground barriers exist.

Description

technical field [0001] The invention relates to a path planning method, in particular to a master-slave co-evolution method for path planning of a mobile robot arm in three-dimensional space. Background technique [0002] Path planning is a fundamental problem in mobile manipulators, that is, finding a feasible continuous path between a starting pose and a final pose. In addition, it is also necessary to consider related indicators such as the optimization of paths, time, etc., and obstacle avoidance. The mobile manipulator has a high degree of freedom and needs to be planned in three-dimensional space rather than in a plane, thus increasing the difficulty of path planning. [0003] The mobile manipulator is a combined system including the manipulator and the mobile platform. How to coordinate the relationship between the two becomes the key point in the planning. Predecessors have proposed many solutions: Pin and culioli use the transformation pose to convert it into a mu...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/02G06N3/12
Inventor 马遥刘山
Owner ZHEJIANG UNIV
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