Optimal trajectory-planning based on genetic algorithm for multi-robot system

Abstract

To plan the point-to-point trajectories for a multi-robot system working in a static environment,we present a genetic-algorithm-based planning method.Adopting the genetic algorithm,we plan the optimal trajectory for each articulated robot based on the comprehensive consideration of the motion-cost and kinematic constraints on the robots.Collisions between robots are avoided by coordinating the starting time for each trajectory.Simulation experiment is carried out for a multi-robot system which includes three 2-DOF articulated robots.The experiment result shows the effectiveness of the proposed method.