Genetic algorithm based path planning of coordinated multi-robot manipulators

摘要

The path planning of coordinated multi-robot is a complicated problem, which involves the valid search in a high-dimension space. In terms of concrete operation situations, two types of operation of loose coordination and tight coordination of multi-robot manipulators are analyzed in detail, respectively. Furthermore, the varying length string and the fitness evaluation of GA are also discussed. Finally, two types of representative coordination cases are given to validate the proposed approach.