A Multi-Objective Genetic Algorithm Approach for Path Planning of an Underwater Vehicle Manipulator

Banfield, Ilka; Rodríguez, Humberto

doi:10.1007/978-3-030-40309-6_12

Cited by 1 publication

(2 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Mobile robot manipulators can be found in many applications and in different environments. For instance, underwater vehicle manipulator systems (UVMS) are used for offshore operations, for oil and gas industry and in maritime installations, as well as in deep sea exploration [8,9]. Moreover, mobile manipulators can be used for automatic painting and shotcrete spraying [10].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Optimal Trajectory Planning of a Mobile Manipulator for Disinfection Using Multi-objective Genetic Algorithm

Rodríguez

Banfield

Octavio

et al. 2021

Lecture Notes in Networks and Systems

View full text Add to dashboard Cite

Autonomous mobile robots are being used for disinfection tasks as an alternative to reduce the exposure of cleaning personnel. In this article a new mobile robot manipulator is introduced for disinfection, by means of a fog generator. The robot consists of a differential drive platform and a two degrees of freedom (DoF) arm which is used to handle a fogging nozzle. For this nozzle a coverage path and a trajectory in the configuration space of the robot needs to be planned. Thus, this work presents a solution to the trajectory planning problem for kinematic control of a predefined end effector path of our disinfection robot, based on the application of a Non Dominated Sorting Genetic Algorithm (NSGA-II), for optimization of energy and smoothness functions for the joint motions. It is assumed that in a previous stage the coverage path planning (CPP) problem was solved. However, a discussion is also presented on the different methods that could be used for CPP.

show abstract

Section: Introductionmentioning

confidence: 99%

“…Thus, in a kinematically redundant mobile manipulator the number of DoFs that maps into the task space is greater than the required to execute the task. For the redundant case, the inverse kinematics problem results in an infinite number of solutions and optimization criteria are used to choose a solution [8].…”

Section: Introductionmentioning

confidence: 99%