Session:

Evolutionary Computation and Neural Networks (ECNN)
Monday March 01, 2004, 11.20 – 11.40

Session Chair:

Paulo Cortez, Miguel Rocha

Paper Title:

An Evolutionary Algorithmfor Manipulator Path Planning

Author(s):

R. Corsepius, Research Institute for Applied Knowledge Processing, Ulm, Germany

Abstract:

In this paper, a versatile and scalable manipulator path planning algorithm based on an evolutionary algorithm will be described. The evolutionary algorithm realizes path planning by probabilistically searching feasible solutions in configuration space, with evolutionary rating taking place both in configuration space and work spaces simultaneously. This algorithm is intentionally kept simple and avoids inverse kinematics, which allows it to be applied for path planning of high-dimensional and redundant manipulators.