This paper presents the work done to investigate the potential of applying Genetic Algorithms for path planning of construction manipulators. Construction manipulators can take the shape of specialized equipment .such as the pipe manipulator or common equipment such as cranes. The need for automating the path of construction manipulators has been identified in a number of past studies. Path pla...

Future planetary explorations will require surface traverses of unprecedented frequency, length, and duration. As a result, there is need for exploration support tools to maximize productivity, scientific return, and safety. The Massachusetts Institute of Technology is currently developing such a system, called the Surface Exploration Traverse Analysis and Navigation Tool (SEXTANT). The goal of...

This paper presents a WWW-accessible tool for design of both sequential and distributed genetic algorithms. It is available to everyone with a Web browser supporting Java and allows the user to construct, execute, observe and tune genetic algorithms through WWW pages interactively. Distributed genetic algorithms are realized on the tool by multithreading and remote objects in Java. We also pres...

| This paper addresses dynamic trajectory planning which is deened as trajectory planning for a robot subject to dynamic constraints and moving in a dynamic workspace, i.e. with moving obstacles. To begin with, we propose the novel concept of state-time space as a tool to formulate dynamic trajectory planning problems. The state-time space of a robot is its state space augmented of the time dim...

Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing such safetycritical systems and has been successfully applied to several small-scale problems. However, a direct application of HJ reachability to large scale...

While the bending sequence planning has been intensively studied, design of the motion path of a sheet metal part in the bending operation tends to be ignored by researchers. Because during the bending operation, the space for maneuvering a sheet metal part is very small, collisions between the part and bending tools are likely to occur. When a robot is used to handle the part, the role of an a...

This paper proposes genetic algorithms (GAs) for path planning and trajectory planning of an autonomous mobile robot. Our GA-based approach has an advantage of adaptivity such that the GAs work even if an environment is time-varying or unknown. Therefore, it is suitable for both off-line and on-line motion planning. We first presents a GA for path planning in a 2D terrain. Simulation results on...

Simple Subgoal Graphs are constructed from grids by placing subgoals at the corners of obstacles and connecting them. They are analogous to visibility graphs for continuous terrain but have fewer edges and can be used to quickly find shortest paths on grids. The vertices of a Simple Subgoal Graph can be partitioned into different levels to create N-Level Subgoal Graphs, which can be used to fin...

As for the limitations of algorithms in global path planning of mobile robot at present, this study applies the improved simulated annealing algorithm artificial neural networks to path planning of mobile robot in order to better the weaknesses of great scale of iteration computation and slow convergence, since the best-reserved simulated annealing algorithm was introduced and it was effectivel...

We present a probabilistic method for path planning that considers trajectories constrained by both the environment and an ensemble of restrictions or preferences on preferred motions for a moving robot. Our system learns constraints and preference biases on a robot’s motion from examples, and then synthesizes behaviors that satisfy these constraints. This behavior can encompass motions that sa...