Mear-Optimal Commutation configuration of a Mobile Manipulator for Point-to-Point Tasks using Genetic Algorithms

摘要

In this paper, a method for finding the near-optimal commutation configurations which are essentially required for a mobile manipulator to execute a multiple task which consists of a sequence of point-to-point subtasks is propose.d We formulate this problem as a global non-linear optimization problem taking int oaccount the motion trajectories of the mobile manipultor between subtasks. Because the solution spaces for this problem are generally unconnected and nonconvex, the genetic algorithms are adopted as a solution method. Computer simulations are performed to verify the effectiveness of the rpoposed method.