Publications / 2002 Proceedings of the 19th ISARC, Washington, USA

Offline Path Planning of Cooperative Manipulators Using Co-Evolutionary Genetic Algorithms

M. Ali, N. Babu, K. Varghese
Pages 415-425 (2002 Proceedings of the 19th ISARC, Washington, USA, ISSN 2413-5844)

This paper presents a new path planning approach using Coevolutionary genetic algorithm (CGA) for automating the path planning of two Cooperative construction manipulators. A methodology based on the concept of configuration space (C-space) technique in conjunction with the Coevolutionary genetic search is used for generating the path. The paper proposes a method for finding the minimum distance and collision free path using CGA. It uses an interference detection algorithm that runs in parallel with CGA to check collision between obstacle and cooperative cranes during path planning. The effectiveness of CGA is compared with other search approaches like A* and Genetic Algorithms GA.

Keywords: Cooperative manipulators, Path planning, Coevolutionary genetic Algorithm