Research on the Omni-directional Mobile Manipulator Motion Planning based on Improved Genetic Algorithm

摘要

The corresponding research was carried out aiming at difficult problem about the redundant robot motion planning. The research was on the omni-directional mobile manipulator (ODMM) motion planning based on the scope of species self-adjust genetic algorithm. In this paper, combining the ODMM characteristics the scope of species self-adjust genetic algorithm was studied, and the speed and efficiency of redundant robot motion planning was improved by the improved genetic algorithm. An example was used to prove that the efficiency of improved Genetic Algorithm in ODMM joint angle change optimization was higher than traditional Genetic Algorithm. Finally, the motion planning experiment about the omni-directional mobile platform and manipulator cooperation drawing circle was performed and the experiment proved that the improved genetic algorithm was effective.