TY - GEN
T1 - Optimal Trajectory Path Generation for Jointed Structure of Excavator using Genetic Algorithm
AU - Jang, Ggyebong
AU - Cho, Sung Bae
PY - 2019/6
Y1 - 2019/6
N2 - In this paper, we propose an algorithm to generate optimal trajectory path considering the complex operating environment of excavator front part composed of the boom, arm, and bucket by using genetic algorithm. In order to express motion in space, we propose a method of coordinate plane space of grid cell, and define the fitness value by path distance. After generating chromosome candidates for each motion unit based on the polygonal structure of the front part of the excavator, we calculate the fitness value about each chromosome. The crossover and mutation operations between the chromosomes selected through roulette wheel of top 20% are repeatedly performed to generate paths with optimal fitness values. This paper verifies the structural analysis of the front part of excavator and the utility of the genetic algorithm to optimize the path in the grid space.
AB - In this paper, we propose an algorithm to generate optimal trajectory path considering the complex operating environment of excavator front part composed of the boom, arm, and bucket by using genetic algorithm. In order to express motion in space, we propose a method of coordinate plane space of grid cell, and define the fitness value by path distance. After generating chromosome candidates for each motion unit based on the polygonal structure of the front part of the excavator, we calculate the fitness value about each chromosome. The crossover and mutation operations between the chromosomes selected through roulette wheel of top 20% are repeatedly performed to generate paths with optimal fitness values. This paper verifies the structural analysis of the front part of excavator and the utility of the genetic algorithm to optimize the path in the grid space.
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U2 - 10.1109/CEC.2019.8790011
DO - 10.1109/CEC.2019.8790011
M3 - Conference contribution
T3 - 2019 IEEE Congress on Evolutionary Computation, CEC 2019 - Proceedings
SP - 1953
EP - 1959
BT - 2019 IEEE Congress on Evolutionary Computation, CEC 2019 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE Congress on Evolutionary Computation, CEC 2019
Y2 - 10 June 2019 through 13 June 2019
ER -