Optimal trajectory-planning based on genetic algorithm for multi-robot system
基于遗传算法的多机器人系统最优轨迹规划

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.