Using an expert system with genetic algorithm for effective multilink manipulator path planning

Nafissa I. Yussupova; Salavat T. Kussimov; Heinz Woern; Gouzel Shakhmametova; Dmitri Nikiforov

doi:10.1117/12.443128

3 October 2001 Using an expert system with genetic algorithm for effective multilink manipulator path planning

Nafissa I. Yussupova, Salavat T. Kussimov, Heinz Woern, Gouzel Shakhmametova, Dmitri Nikiforov

Proceedings Volume 4565, Intelligent Systems in Design and Manufacturing IV; (2001) https://doi.org/10.1117/12.443128
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

The genetic approach as the basis for the path search method for a multilink manipulator in complex environment has been discussed. To get over the major downfalls of the genetic approach the developed expert system (ES) to provide a specific purpose orientation at the stages of initial population formation and path crossing is proposed. We use the ES built of two modules: for forming recommendations for the initial population generation and for path crossing. The result for more than 4,000 experiments using five test workcells with various obstacles show that using the expert system increases the point attainability by 20 percent on the average.

Citation Download Citation

Nafissa I. Yussupova, Salavat T. Kussimov, Heinz Woern, Gouzel Shakhmametova, and Dmitri Nikiforov "Using an expert system with genetic algorithm for effective multilink manipulator path planning", Proc. SPIE 4565, Intelligent Systems in Design and Manufacturing IV, (3 October 2001); https://doi.org/10.1117/12.443128

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