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Tie-feng Zhang
Harbin University of Commerce

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VSGA Method Based Trajectory Planning of a Novel Limb-robot Li Liu; Han-lin Yang; Tie-feng Zhang; Ming Pang; Jie Zhao
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 5: May 2013
Publisher : Institute of Advanced Engineering and Science

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Abstract

A new progressive genetic algorithm (PGA) was developed for trajectory planning of a novel limb-robot. The proposed trajectory planning method can be applied to get an optimal joints trajectory from the initial to the end position and orientation. On the basis of the genetic algorithm a new kind of variable structure genetic algorithm (VSGA) is proposed to solve the problem of trajectory planning of the limb-robot in complicate environments. The VSGA changes the original structure by abandoning Elitist Model, expectation selection, reproducing population and changing the probability of crossover and mutation. Experiments results show that the PGA is effective in static environments and the VSGA does well in complicate environments. DOI: http://dx.doi.org/10.11591/telkomnika.v11i5.2564
Co-Authors Han-lin Yang Jie Zhao Li Liu Ming Pang