An Evolutionary Algorithm for the Collision Free Motion of Multi-Arm Robots.

Abstract

This paper presents an evolutionary algorithm for the collision-free path planning of multi-arm robots. A global path planning technique is used where the paths are represented by a string of via-points which the robots have to pass through. The path planning algorithm uses evolutionary techniques to minimise path lengths, uneven distribution of via-points on the paths (decrease variation in velocity) and minimise the collision between the robots. Two particular features of this algorithm are that via-points are not limited to a fixed grid over the configuration space and customised operators are used in the GA-based search to improve the performance. Simulation results are presented for collision-free paths planned for two planner arms and then for two 3-DOF PUMA*-like arms moving in three dimensional operational space.