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A new algorithm based on Evolutionary Strategies is proposed for finding a robot manipulation path. Next scenario is considered: Given a learned Manipulation Path in the space of configurations, a real-time optimal path is calculated when mobile robot base is in a different position and orientation near to the original localization. The optimization problem is formulated as the minimization of the...
A new evolutionary-based algorithm is proposed to solve the robot manipulator optimal path generation problem. The following scenario is considered: given a learnt joint path describing a robot manipulator simple task in the Cartesian space, an optimal path is calculated when a different initial joint configuration is considered. The optimization problem is formulated as the minimization of both the...
This paper presents the application to nonholonomic mobile robot path planning of our Voronoi fast marching (VFM) and FM2 methods, which represents our current progress on the design and analysis of these algorithms. The VFM and FM2 methods use the propagation of a wave (fast marching) operating on the world model, to determine a motion plan over a slowness map (similar to the refraction index in...
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