Open AccessKinematic Dexterity Maximization of an Omnidirectional Wheeled Mobile Robot: A Comparison of Metaheuristic and SQP Algorithms
Author(s) -
Miguel Gabriel Villarreal-Cervantes,
Carlos A. Cruz-Villar,
Jaime Álvarez-Gallegos,
Edgar Alfredo Portilla-Flores
Publication year - 2012
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/52251
Subject(s) - kinematics , computer science , omnidirectional antenna , mobile robot , robot , crossover , maximization , algorithm , artificial intelligence , computer vision , mathematical optimization , mathematics , telecommunications , physics , classical mechanics , antenna (radio)
Mobile robots with omnidirectional wheels are expected to perform a wide variety of movements in a narrow space. However, kinematic mobility and dexterity have not been clearly identified as an objective to be considered when designing omnidirectional redundant robots. In light of this fact, this article proposes to maximize the dexterity of the mobile robot by properly locating the omnidirectional wheels. In addition, four hybrid differential evolution (DE) algorithm based on the synergetic integration of different kinds of mutation and crossover are presented. A comparison of metaheuristic and gradient-based algorithms for kinematic dexterity maximization is also presented