Motion planning of a nonholonomic multibody system using genetic algorithm

Xin Sheng Ge; Li Qun Chen; Yan Zhu Liu

doi:10.1515/IJNSNS.2005.6.2.113

Motion planning of a nonholonomic multibody system using genetic algorithm

Xin Sheng Ge^*
, Li Qun Chen
, Yan Zhu Liu

^*Corresponding author for this work

Beijing Institute of Machinery
Shanghai University
Shanghai Jiao Tong University

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

The motion planning of a nonholonomic multibody system is investigated. Nonholonomicity arises in many mechanical systems subject to nonintegrable velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the control problem of system can be converted to the motion planning problem for a driftless control system. In this paper, an optimal control approach is proposed for the discussed problem. To connect the initial and final configurations and to generate a feasible trajectory for a nonholonomic system, the genetic algorithm is used to optimize the performance of motion planning. The feasible trajectory and its control inputs are searched through a genetic algorithm. The effectiveness of the genetic algorithm is demonstrated by numerical simulation.

Original language	English
Pages (from-to)	113-120
Number of pages	8
Journal	International Journal of Nonlinear Sciences and Numerical Simulation
Volume	6
Issue number	2
DOIs	https://doi.org/10.1515/IJNSNS.2005.6.2.113
State	Published - 2005
Externally published	Yes

Keywords

Genetic algorithm
Motion planning
Multibody system
Nonholonomic

Access to Document

10.1515/IJNSNS.2005.6.2.113

Cite this

@article{9a7effc7a8af4ed6b481afb3a809630e,

title = "Motion planning of a nonholonomic multibody system using genetic algorithm",

abstract = "The motion planning of a nonholonomic multibody system is investigated. Nonholonomicity arises in many mechanical systems subject to nonintegrable velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the control problem of system can be converted to the motion planning problem for a driftless control system. In this paper, an optimal control approach is proposed for the discussed problem. To connect the initial and final configurations and to generate a feasible trajectory for a nonholonomic system, the genetic algorithm is used to optimize the performance of motion planning. The feasible trajectory and its control inputs are searched through a genetic algorithm. The effectiveness of the genetic algorithm is demonstrated by numerical simulation.",

keywords = "Genetic algorithm, Motion planning, Multibody system, Nonholonomic",

author = "Ge, \{Xin Sheng\} and Chen, \{Li Qun\} and Liu, \{Yan Zhu\}",

year = "2005",

doi = "10.1515/IJNSNS.2005.6.2.113",

language = "英语",

volume = "6",

pages = "113--120",

journal = "International Journal of Nonlinear Sciences and Numerical Simulation",

issn = "1565-1339",

publisher = "Walter de Gruyter GmbH",

number = "2",

}

TY - JOUR

T1 - Motion planning of a nonholonomic multibody system using genetic algorithm

AU - Ge, Xin Sheng

AU - Chen, Li Qun

AU - Liu, Yan Zhu

PY - 2005

Y1 - 2005

N2 - The motion planning of a nonholonomic multibody system is investigated. Nonholonomicity arises in many mechanical systems subject to nonintegrable velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the control problem of system can be converted to the motion planning problem for a driftless control system. In this paper, an optimal control approach is proposed for the discussed problem. To connect the initial and final configurations and to generate a feasible trajectory for a nonholonomic system, the genetic algorithm is used to optimize the performance of motion planning. The feasible trajectory and its control inputs are searched through a genetic algorithm. The effectiveness of the genetic algorithm is demonstrated by numerical simulation.

AB - The motion planning of a nonholonomic multibody system is investigated. Nonholonomicity arises in many mechanical systems subject to nonintegrable velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the control problem of system can be converted to the motion planning problem for a driftless control system. In this paper, an optimal control approach is proposed for the discussed problem. To connect the initial and final configurations and to generate a feasible trajectory for a nonholonomic system, the genetic algorithm is used to optimize the performance of motion planning. The feasible trajectory and its control inputs are searched through a genetic algorithm. The effectiveness of the genetic algorithm is demonstrated by numerical simulation.

KW - Genetic algorithm

KW - Motion planning

KW - Multibody system

KW - Nonholonomic

UR - https://www.scopus.com/pages/publications/17844410110

U2 - 10.1515/IJNSNS.2005.6.2.113

DO - 10.1515/IJNSNS.2005.6.2.113

M3 - 文章

AN - SCOPUS:17844410110

SN - 1565-1339

VL - 6

SP - 113

EP - 120

JO - International Journal of Nonlinear Sciences and Numerical Simulation

JF - International Journal of Nonlinear Sciences and Numerical Simulation

IS - 2

ER -

Motion planning of a nonholonomic multibody system using genetic algorithm

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this