Genetic Trajectory Planner for a Manipulator with Acceleration Parametrization

This paper presents a genetic trajectory planning method of a robot manipulator producing the optimal trajectory between two end points. Genetic algorithm based methods seldom require a priori knowledge of a problem. Furthermore, they do not tend to fall into local optima and proceed toward the global optimum. However, they have di culty in handling equality constraints of trajectory boundary conditions because they use probabilistic transition rules to nd a solution. In this paper, we investigate the proper genetic trajectory parameterization and develop an e cient scheme for the implementation of genetic trajectory planner. We demonstrate the e ectiveness and validity of the proposed approach through some simulation studies.