TIME-OPTIMAL PATH PLANNING MODEL USING GENETIC ALGO- RITHM IN RRR ROBOT | Zendy

Hasan Demir | Zendy; Mehmet R. Tolun | Zendy; Filiz Sarı | Zendy

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TIME-OPTIMAL PATH PLANNING MODEL USING GENETIC ALGO- RITHM IN RRR ROBOT

Author(s) -

Hasan Demir,

Mehmet R. Tolun,

Filiz Sarı

Publication year - 2021

Publication title -

international journal of engineering technologies and management research

Language(s) - English

Resource type - Journals

ISSN - 2454-1907

DOI - 10.29121/ijetmr.v8.i5.2021.938

Subject(s) - crossover , motion planning , matlab , robot , genetic algorithm , computer science , kinematics , path (computing) , mathematical optimization , control theory (sociology) , mathematics , artificial intelligence , physics , control (management) , classical mechanics , programming language , operating system

The mathematical expression of the kinematic equations of each joint is utilized for the path planning using a quantic polynomial in joint space. In this study, a time optimization model for path planning using genetic algorithms with a vari- ety of crossover fraction and mutation rates is investigated. The optimization process is performed with MATLAB. Optimization using boundary conditions is performed with MATLAB. The result of the simulation, smooth speed graphs, angular position graphs, and the time when joint movements will complete the orbit as soon as possible are obtained. As a result of this study, a path planning model that can be applied to any robot is developed in joint space based on time optimization and can be used to shorten the task time, especially in task-based robots.

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