Multiple manipulators path planning using double A*

Near-Minimum-Time Motion Planning of Manipulators along Specified Path

The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...

Path planning for mobile manipulators for multiple task execution

Path Planning for Highly Redundant Manipulators Using a Continuous Model

There is a need for highly redundant manipulators to work in complex, cluttered environments. Our goal is to plan paths for such manipulators e ciently. The path planning problem has been shown to be PSPACE-complete in terms of the number of degrees of freedom (DOF) of the manipulator. We present a method which overcomes the complexity with a strong heuristic: utilizing redundancy by means of a...

Path Planning of Cooperative Construction Manipulators Using Genetic Algorithms

This paper presents the work done to investigate the potential of applying Genetic Algorithms (GA’s) to automate the path planning of cooperative construction manipulators. Though there is potential to achieve economy by using cooperative manipulators, this method is not being commonly adopted in construction sites. A key barrier to the use of cooperative manipulators is the meticulous planning...

Path Planning of Construction Manipulators Using Genetic Algorithms

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...