engleski

Co-Evolutionary Algorithm for Motion Planning of Two Industrial Robots with Overlapping Workspaces

A high level of autonomy is a prerequisite for achieving the robotic presence in a broad spectrum of work environments. If there is more than one robot in a given environment, and the workspaces of robots are shared, then the robots present a dynamic obstacle to each other, which is a potentially dangerous situation. This paper deals with the problem of motion planning for two six-degrees-of-freedom (DOF) industrial robots whose workspaces overlap. The planning is based on a novel hall of fame – the Pareto-based co-evolutionary algorithm. The modification in the algorithm is directed towards speeding-up the co-evolution to achieve real-time implementation in the industrial robotic system composed of two FANUC LrMate 200iC robots. The results of the simulation and implementation show the great potential of the method in terms of convergence, robustness, and time

Evolutionary Algorithms ; Motion Planning ; Multi Robot Systems ; Optimization

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