Anytime Ant System for Manipulator Path Planning

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dc.contributor.author Wang, D
dc.contributor.author Kwok, NM
dc.contributor.author Fang, GK
dc.contributor.author Ha, QP
dc.contributor.editor Tarn, TJ
dc.contributor.editor Chen, SB
dc.contributor.editor Fang, G
dc.date.accessioned 2012-10-12T03:36:12Z
dc.date.issued 2011-01
dc.identifier.citation Robotic Welding, Intelligence and Automation, 2011, pp. 411 - 420
dc.identifier.isbn 978-3-642-19958-5
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/19084
dc.description.abstract An efficient algorithm for manipulator path planning is presented in this paper. Because of the complexity of the problem nature, it frequently takes a long time for the planner to find an optimal path. This drawback may hinder a robotic manipulator system from many real-time applications. In this research work, the concept of anytime algorithm is integrated into a novel swarm intelligence method, the Ant System with Negative Feedback (ASNF). With the proposed Anytime Ant System (AAS), a planner is able to find a suboptimal solution quickly, then improve the quality of this solution while time allows. Simulations based on a two-link manipulator have been carried out to demonstrate the feasibility and effectiveness of the proposed approach.
dc.format Jessica Robinson
dc.publisher Springer-Verlag
dc.relation.isbasedon 10.1007/978-3-642-19959-2_50
dc.title Anytime Ant System for Manipulator Path Planning
dc.type Conference Proceeding
dc.description.version Published
dc.parent Robotic Welding, Intelligence and Automation
dc.journal.number en_US
dc.publocation Berlin Heidelberg en_US
dc.identifier.startpage 411 en_US
dc.identifier.endpage 420 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.conference Tzyh-Jong Tarn, Shan-Ben Chen, Gu Fang
dc.for 080201 Analysis of Algorithms and Complexity
dc.personcode 000935
dc.personcode 105612
dc.personcode 044448
dc.percentage 100 en_US
dc.classification.name Analysis of Algorithms and Complexity en_US
dc.classification.type FOR-08 en_US
dc.edition 1 en_US
dc.custom Tzyh-Jong Tarn, Shan-Ben Chen, Gu Fang en_US
dc.date.activity 20101014 en_US
dc.date.activity 2010-10-14
dc.location.activity Shanghai, China en_US
dc.description.keywords manipulator path planning, swarm intelligence en_US
dc.description.keywords Science & Technology
dc.description.keywords Technology
dc.description.keywords Physical Sciences
dc.description.keywords Computer Science, Interdisciplinary Applications
dc.description.keywords Physics, Mathematical
dc.description.keywords Computer Science
dc.description.keywords Physics
dc.description.keywords COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS
dc.description.keywords PHYSICS, MATHEMATICAL
dc.description.keywords shape optimization
dc.description.keywords topology optimization. compliant mechanisms
dc.description.keywords level set methods
dc.description.keywords radial basis functions
dc.description.keywords conve
dc.description.keywords programming
dc.description.keywords RADIAL BASIS FUNCTIONS
dc.description.keywords BASIS FUNCTION INTERPOLATION
dc.description.keywords HAMILTON-JACOBI EQUATIONS
dc.description.keywords RIGID-BODY MODEL
dc.description.keywords STRUCTURAL OPTIMIZATION
dc.description.keywords HOMOGENIZATION METHOD
dc.description.keywords DESIGN
dc.description.keywords ACTUATORS
dc.description.keywords SENSITIVITY
dc.description.keywords ALGORITHM
pubs.embargo.period Not known
pubs.organisational-group /University of Technology Sydney
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems
pubs.organisational-group /University of Technology Sydney/Strength - Built Infrastructure
utslib.copyright.status Closed Access
utslib.copyright.date 2015-04-15 12:17:09.805752+10
utslib.collection.history Closed (ID: 3)


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