PATH PLANNING OPTIMIZATION OF A SPHERICAL MOBILE ROBOT, VIA GENETIC ALGORITHM

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NADERI D.; AZIZI M.R.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

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Paper Information

Journal: Journal of Aerospace Mechanics Year:2011 | Volume:7 | Issue:1 (23) Page(s): 1-13

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Title

PATH PLANNING OPTIMIZATION OF A SPHERICAL MOBILE ROBOT, VIA GENETIC ALGORITHM

Author(s)

NADERI D. | AZIZI M.R. | Issue Writer Certificate

Keywords

SPHERICAL ROBOTQ2

KANE DYNAMICQ3

PATH PLANNINGQ2

INVERSE DYNAMICQ2

MULTI-OBJECTIVE GENETIC ALGORITHMQ2

Abstract

This paper deals with dynamic modeling and PATH PLANNING of a spherical mobile robot. SPHERICAL ROBOT is the prototype of mobile robot used in unknown environments. In this paper, it has five degrees of freedom such that its driver mechanism is 2DOF pendulum moved with two motors. This SPHERICAL ROBOT is a non-holonomic and non-linear system. First, the kinematic of the SPHERICAL ROBOT is analyzed and next its equations of motion are derived, using the Kane method. For PATH PLANNING, INVERSE DYNAMIC of the robot on straight and on circular trajectories are solved. For this, new iterative method, using genetic algorithm for PATH PLANNING in motion on circular path is used. Finally, the optimal path for achieving minimum power and time of motion are obtained, using MULTI-OBJECTIVE GENETIC ALGORITHM. Good agreements were observed between the results of this method and previous computer simulations.

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APA: Copy

NADERI, D., & AZIZI, M.R.. (2011). PATH PLANNING OPTIMIZATION OF A SPHERICAL MOBILE ROBOT, VIA GENETIC ALGORITHM. AEROSPACE MECHANICS JOURNAL, 7(1 (23)), 1-13. SID. https://sid.ir/paper/101838/en

Vancouver: Copy

NADERI D., AZIZI M.R.. PATH PLANNING OPTIMIZATION OF A SPHERICAL MOBILE ROBOT, VIA GENETIC ALGORITHM. AEROSPACE MECHANICS JOURNAL[Internet]. 2011;7(1 (23)):1-13. Available from: https://sid.ir/paper/101838/en

IEEE: Copy

D. NADERI, and M.R. AZIZI, “PATH PLANNING OPTIMIZATION OF A SPHERICAL MOBILE ROBOT, VIA GENETIC ALGORITHM,” AEROSPACE MECHANICS JOURNAL, vol. 7, no. 1 (23), pp. 1–13, 2011, [Online]. Available: https://sid.ir/paper/101838/en

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