Result: Optimal motion planning for nonholonomic systems using genetic algorithm with wavelet approximation

Title:
Optimal motion planning for nonholonomic systems using genetic algorithm with wavelet approximation
Authors:
GE, Xin-Sheng, CHEN, Li-Qun
Source:
Applied mathematics and computation. 180(1):76-85
Publisher Information:
New York, NY: Elsevier, 2006.
Publication Year:
2006
Physical Description:
print, 16 ref
Original Material:
INIST-CNRS
Subject Terms:
Control theory, operational research, Automatique, recherche opérationnelle, Computer science, Informatique, Mathematics, Mathématiques, Sciences exactes et technologie, Exact sciences and technology, Sciences et techniques communes, Sciences and techniques of general use, Mathematiques, Mathematics, Analyse numérique. Calcul scientifique, Numerical analysis. Scientific computation, Analyse numérique, Numerical analysis, Analyse de fourier, Fourier analysis, Sciences appliquees, Applied sciences, Recherche operationnelle. Gestion, Operational research. Management science, Recherche opérationnelle et modèles formalisés de gestion, Operational research and scientific management, Optimisation. Problèmes de recherche, Optimization. Search problems, Informatique; automatique theorique; systemes, Computer science; control theory; systems, Automatique théorique. Systèmes, Control theory. Systems, Commande optimale, Optimal control, Robotique, Robotics, Algorithme approximation, Approximation algorithm, Algoritmo aproximación, Algorithme génétique, Genetic algorithm, Algoritmo genético, Articulation, Joint, Articulación, Contrôle optimal, Optimal control (mathematics), Control óptimo (matemáticas), Estimation erreur, Error estimation, Estimación error, Fonction coût, Cost function, Función coste, Mathématiques appliquées, Applied mathematics, Matemáticas aplicadas, Robot, Système non holonome, Non holonomic system, Sistema no holónomo, Transformation ondelette, Wavelet transformation, Transformación ondita, Méthode ondelettes, Planification mouvement
Document Type:
Academic journal Article
File Description:
text
Language:
English
Author Affiliations:
Basic Science Courses Department, Beijing Institute of Machinery, Beijing 100085, China
Shanghai University, Shanghai Institute of Applied Mathematics and Mechanics, Shanghai 200072, China
ISSN:
0096-3003
Access URL:
http://pascal-francis.inist.fr/vibad/index.php?action=search&terms=18357060
Rights:
Copyright 2007 INIST-CNRS
CC BY 4.0
Sauf mention contraire ci-dessus, le contenu de cette notice bibliographique peut être utilisé dans le cadre d’une licence CC BY 4.0 Inist-CNRS / Unless otherwise stated above, the content of this bibliographic record may be used under a CC BY 4.0 licence by Inist-CNRS / A menos que se haya señalado antes, el contenido de este registro bibliográfico puede ser utilizado al amparo de una licencia CC BY 4.0 Inist-CNRS
Notes:
Computer science; theoretical automation; systems

Mathematics

Operational research. Management
Accession Number:
edscal.18357060
Database:
PASCAL Archive

Further Information

An optimal motion planning scheme using genetic algorithm with wavelet approximation is proposed for nonholonomic systems. The motion planning of nonholonomic systems can be formulated as an optimal control of a driftfree system. A cost function is introduced to incorporate the control energy and the final state errors. The control inputs are determined to minimize the cost functional. By using the method of wavelet, the infinite-dimensional optimal control problem is truncated to a finite-dimensional one based on the wavelet bases. The genetic algorithm is employed to solve a feasible trajectory satisfying nonholonomic constraints. The proposed scheme is applied to a free-floating robot consisting of two one-link arms connected to a main base via revolute joints. The numerical results demonstrate that the genetic algorithm with the wavelet approximation is an effective approach to steer a nonholonomic system from its initial state to, its final state.