基于遗传算法的多机器人系统最优轨迹规划.pdfVIP

27 9 Vol. 27 No. 9 2010 9 Control Theory Applications Sep. 2010 :2010 , ( , 210096) : , . , . 3 , . : ; ; ; : TP242.6 : A Optimal trajectory-planning based on genetic algorithm for multi-robot system GAN Ya-hui, DAI Xian-zhong (Key Lab of Measurement and Control of CSE, Ministry of Education, Southeast University, Nanjing Jiangsu 210096, China) Abstract: To plan the point-to-point trajectories for a multi-robot system working in a static environment, we present a genetic-algorithm-based planning method. Adopting the genetic algorithm, we plan the optimal trajectory for each articu- lated robot based on the comprehensive consideration of the motion-cost and kinematic constraints on the robots. Collisions between robots are avoided by coordinating the starting time for each trajectory. Simulation experiment is carried out for a multi-robot system which includes three 2-DOF articulated robots. The experiment result shows the effectiveness of the proposed method. Key words: multi-robot system; trajectory-planning; genetic algorithm; optimal trajectory 1 (Introduction) [2] . Lydia.E , , [3] James Bruce , . , . , . , , [46] [4] . Xuanzi Hu [5] , Hui Miao ,