%0 Journal Article
%T Optimal trajectory-planning based on genetic algorithm for multi-robot system<br>基于遗传算法的多机器人系统最优轨迹规划
%A GAN Ya-hui
%A DAI Xian-zhong
%A <br>甘亚辉
%A 戴先中
%J 控制理论与应用
%D 2010
%I 
%X To plan the point-to-point trajectories for a multi-robot system working in a static environment, we present a genetic-algorithm-based planning method. Adopting the genetic algorithm, we plan the optimal trajectory for each articulated robot based on the comprehensive consideration of the motion-cost and kinematic constraints on the robots. Collisions between robots are avoided by coordinating the starting time for each trajectory. Simulation experiment is carried out for a multi-robot system which includes three 2-DOF articulated robots. The experiment result shows the effectiveness of the proposed method.
%K multi-robot system
%K trajectory-planning
%K genetic algorithm
%K optimal trajectory<br>多机器人系统
%K 轨迹规划
%K 遗传算法
%K 最优轨迹
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=8C59550E8255AF273378E5AD20E3B824&yid=140ECF96957D60B2&vid=DB817633AA4F79B9&iid=9CF7A0430CBB2DFD&sid=076A4355FDA11BCF&eid=87352E668344FB84&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=1&reference_num=14