Constrained Trajectory Planning for Cooperative Work with Behavior Based Genetic Algorithm

摘要

In this study, subjected to the trajectory generation for cooperative work, a genetic algorithm with cultural constructs is used to search for valid and optimal solutions in task space. We develop that algorithm by reflecting the behavior of social communities with a decision maker is used to evaluate cultural adaptation level by how well phenotypes, based on quaternion representation, are fitted in goal function. Algorithm uses cognition strategy to obtain smooth trajectory considering physical restrictive structure and actuator limits by using dynamic constrains in decision engine and eliminating unexpected derivation, also avoiding local minima problem.