Browsing by Author "Sheu, CH"

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A heuristic approach to robot path planning based on task requirements using a genetic algorithm
(1996-05-01)
Sheu, CH
;
Young, KY
;
交大名義發表
;
電控工程研究所
;
National Chiao Tung University
In order to enhance integration between CAD and robots, we propose a scheme to plan kinematically feasible paths in the presence of obstacles based on task requirements, Thus, the feasibility of a planned path from a CAD system is assured before the path is sent for execution. The proposed scheme uses a heuristic approach to deal with a rather complex search space, involving high-dimensional C-space obstacles and task requirements specified in Cartesian space. When the robot is trapped by the local minimum in the potential field related to the heuristic, a genetic algorithm is then used to find a proper intermediate location that will guide it to escape out of the local minimum. For demonstration, simulations based on using a PUMA-typed robot manipulator to perform different tasks in the presence of obstacles were conducted. The proposed scheme can also be used for mobile robot planning.