Trajectory planning of cellular manipulator system using virus-evolutionary genetic algorithm
Trajectory planning of cellular manipulator system using virus-evolutionary genetic algorithm
复制标题
基于病毒进化遗传算法的细胞机械臂系统轨迹规划
DOI：
10.1016/s0921-8890(96)00035-8
复制
发表时间：
1996
期刊：
影响因子：
--
通讯作者：
K. Shimojima
中科院分区：
文献类型：
--
作者：
N. Kubota;T. Fukuda;K. Shimojima
研究了基于病毒进化理论（VEGA）的遗传算法在细胞机械臂轨迹规划中的应用。细胞机械手系统是由大量的自主部件和工具组成的。根据所处的环境和给定的任务，对细胞机械手系统的形态进行了动态重构。本文将VEGA应用于一个轨迹规划问题。VEGA实现了群体中遗传信息的水平传播和垂直遗传。VEGA的主要操纵子是一个反转录操纵子，它同时起着交叉和选择的作用。轨迹规划仿真结果表明，VEGA生成的轨迹是无碰撞的。
This paper deals with an application of a genetic algorithm based on a virus theory of evolution (VEGA) to trajectory planning of a cellular manipulator system. A cellular manipulator system is composed of a large number of autonomous parts and tools. The form of the cellular manipulator system is dynamically reconfigured according to its environment and given tasks. In this paper, the VEGA is applied to a trajectory planning problem. The VEGA realizes a horizontal propagation and a vertical inheritance of genetic information in a population. The main operator of the VEGA is a reverse transcription operator, which plays the roles of a crossover and a selection at the same time. Simulation results of trajectory planning shows that the VEGA generates a collision-free trajectory.