A Study on Dynamically Reconfigurable Robotic System. 11th Report. Cooperative Generation of Sequence for Structure Configuration using Genetic Algorithm.

摘要

This paper deals with a path planning method for a structure configuration of Cellular Robotic System (CEBOT) which consists of a large number of autonomous robotic units called "cells." Since the CEBOT is one of the dynamically reconfigurable robotic systems, we propose a method for distributed decision making for the path planning, which employs a genetic algorithm. A genetic algorithm is a search algorithm based on the principle of natural selection and natural genetics. The decision making is improved according to the survival rule for the planning candidates. According to the concept of a distributed intelligent system, we propose a "distributed genetic algorithm, " in which the survival is selected in each local area. We present the simulation results for the planning in two cases as follows : ( 1 ) the case using a general genetic algorithm and ( 2 ) the case using a distributed genetic algorithm.