Collision Free Path Planning of Cooperative Crane Manipulators Using Genetic Algorithm

This paper presents a new approach for automated path planning of cooperative crane manipulators using a genetic algorithm (GA). The inverse kinematic problem, i.e., determining the joint angle configuration for the cooperative crane manipulator system in moving the object from pick location to plac...

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Published inJournal of computing in civil engineering Vol. 19; no. 2; pp. 182 - 193
Main Authors Ali, M. S. Ajmal Deen, Babu, N. Ramesh, Varghese, Koshy
Format Journal Article
LanguageEnglish
Published Reston, VA American Society of Civil Engineers 01.04.2005
Subjects
Applied sciences
Buildings. Public works
Computation methods. Tables. Charts
Construction equipments
Construction works
Exact sciences and technology
Structural analysis. Stresses
TECHNICAL PAPERS
Automation
Cranes
Evolutionary computation
Crane
Robotics
Result
Algorithms
Genetic algorithm
Cooperation
Formulation
Construction planning
Kinematics
Construction equipment
Optimal path
Planning
Collision avoidance
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ISSN0887-3801
1943-5487
DOI10.1061/(ASCE)0887-3801(2005)19:2(182)

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Abstract This paper presents a new approach for automated path planning of cooperative crane manipulators using a genetic algorithm (GA). The inverse kinematic problem, i.e., determining the joint angle configuration for the cooperative crane manipulator system in moving the object from pick location to place location, is defined as an optimization problem and solved using GA. For generating the collision-free path, GA with an interference detection algorithm is employed and search is made in the manipulator joint angle space (configuration space). The effectiveness of the proposed approach for automated path planning is demonstrated by comparing the performance of the present approach with the earlier heuristic search proposed by Sivakumar et al. The GA approach finds a near-optimal path with lower path cost and less computational time than earlier heuristic searches.
AbstractList This paper presents a new approach for automated path planning of cooperative crane manipulators using a genetic algorithm (GA). The inverse kinematic problem, i.e., determining the joint angle configuration for the cooperative crane manipulator system in moving the object from pick location to place location, is defined as an optimization problem and solved using GA. For generating the collision-free path, GA with an interference detection algorithm is employed and search is made in the manipulator joint angle space (configuration space). The effectiveness of the proposed approach for automated path planning is demonstrated by comparing the performance of the present approach with the earlier heuristic search proposed by Sivakumar et al. The GA approach finds a near-optimal path with lower path cost and less computational time than earlier heuristic searches.
Author Ali, M. S. Ajmal Deen
Babu, N. Ramesh
Varghese, Koshy
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  fullname: Varghese, Koshy
  organization: Dept. of Civil Engineering , , Indian Institute of Technology, Madras, Chennai-600 036, India
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Keywords Automation
Cranes
Evolutionary computation
Crane
Robotics
Result
Algorithms
Genetic algorithm
Cooperation
Formulation
Construction planning
Kinematics
Construction equipment
Optimal path
Planning
Collision avoidance
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SubjectTerms Applied sciences
Buildings. Public works
Computation methods. Tables. Charts
Construction equipments
Construction works
Exact sciences and technology
Structural analysis. Stresses
TECHNICAL PAPERS
Title Collision Free Path Planning of Cooperative Crane Manipulators Using Genetic Algorithm
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