Time-optimal task scheduling for articulated manipulators in environments cluttered with obstacles

Robotica

Volumn 28, Issue 3, 2010, Pages 427-440

  Xidias, E K ^a   Zacharia, P Th ^a   Aspragathos, N A ^a  

^a UNIVERSITY OF PATRAS   (Greece)

Author keywords

Articulated robots; Bump surface; Genetic algorithms; Task scheduling

Indexed keywords

ARTICULATED ROBOTS; B-SPLINE SURFACE; BUMP-SURFACE; EUCLIDEAN SPACES; FREE MOTION; FREE SPACE; NEW APPROACHES; NP-HARD PROBLEM; OPTIMAL SCHEDULING; ROBOT TASKS; SCHEDULING PROBLEM; TASK SCHEDULING PROBLEM; TASK-SCHEDULING; TIME-OPTIMAL;

GENETIC ALGORITHMS; MOBILE ROBOTS; MULTITASKING; OPTIMIZATION; SCHEDULING ALGORITHMS; SPLINES; TWO DIMENSIONAL;

ROBOT PROGRAMMING;

EID: 77954543236     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574709005748     Document Type: Article

References (27)

1. E. Lawer, J. Lenstra, A. R. Kan and Shmoys D., The Travelling Salesman Problem (Wiley, Chichester, UK, 1985).
2. J. C. Latombe, Robot Motion Planning (Kluwer Academic Publishers, Boston, 1991).
3. M. R. Garey, R. L. Graham and D. S. Johnson. "Some NP-Complete Geometric Problems," Proceedings of ACM Symposium on Theory of Computing, Hershey, Pennsylvania, United States (1976) pp. 10-22.
4. C. H. Papadimitriou, "Euclidean TSP is NP-complete," TCS 4, 237-244 (1977).
5. L. Abdel-Malek and Z. Li, "The application of inverse kinematics in the optimum sequencing of robot tasks," Int. J. Prod. Res. 28(1), 75-90 (1990).
6. J. Petiot, P. Chedmail and J.-Y. Haschöet, "Contribution to the scheduling of trajectories in robotics," Robot. Cim-Int. Manuf. 14(3), 237-251 (1998).
7. S. Dubowsky and T. Blubaugh, "Planning time-optimal robotic manipulator motions and work places for pointto- point tasks," IEEE Trans. Robot Autom. 5(3), 377-381 (1989).
8. P. T. Zacharia and N. A. Aspragathos, "Optimal robot task scheduling based on genetic algorithms," Robot. Cim-Int. Manuf. 21(1), 67-79 (2005).
9. N. Rahmanian-Shahri and I. Torch, "Collision avoidance control for redundant articulated robots," Robotica 13(2), 159-168 (1995).
10. R. V. Mayorga, F. Jambi Sharifi and A. K. C. Wong, "A fast approach for the robust trajectory planning of redundant robot manipulators," J. Robot. Sys. 12(2), 147-161 (1995).
11. J.-L. Chen, J.-S. Liu, W.-C. Lee and T.-C. Liang, "On-line multi-criteria based on collision-free posture generation of redundant manipulator in constraint workspace," Robotica 20(6), 625-636 (2002).
12. T. Lozano-Perez, "Spatial planning: A configuration space approach," IEEE T. Comput. C-32(2), 108-120 (1983).
13. J. Barraquand, B. Langlois and J.-C. Latombe, "Numerical potential field techniques for robot path planning," IEEE T. Syst. Man Cy. 22(2), 224-241 (1992).
14. E. S. Conkur, "Path following algorithm for highly redundant manipulators," Robot Auton. Syst. 45(1), 1-22 (2003).
15. D. E. Goldberg, Genetic Algorithm in Search, Optimization and Machine Learning (Addison Wesley, Reading, MA, 1989).
16. Z. Michalewitz, Genetic Algorithms + Data Structures = Evolution Programs, 3rd ed. (Springer-Verlag, New York, 1996).
17. T.-C. Liang and J.-S. Liu, "An improved trajectory planner for redundant manipulators in constrained workspace," J. Robot. Syst. 16(6), 339-351 (1999).
18. E. S. Conkur, "Path planning using potential fields for highly redundant manipulators," Robot Auton. Syst. 52(2-3), 209-228 (2005).
19. A. C. Nearchou and N. A. Aspragathos, "A genetic path planning algorithm for redundant articulated robots," Robotica. 15(2), 213-224 (1997).
20. L. Tian and C. Collins, "Motion planning for redundant manipulators using a floating point genetic algorithm," J. Intell. Robot. Syst. 38(3-4), 297-312 (2003).
21. P. Azariadis and N. Aspragathos, "Obstacle representation by bump-surfaces for optimal motion-planning," Robot Auton. Syst. 51(2-3), 129-150 (2005).
22. L. Piegl and W. Tiller, The NURBS Book (Springer-Verlag, Berlin, Germany, 1997).
23. E. K. Xidias, P. N. Azariadis and N. A. Aspragathos, " Energyminimizing motion design for nonholonomic robots amidst moving obstacles," Comput. Aided Des. Appl. 3(1-4), 165-174 (2006).
24. E. K. Xidias, A. C. Nearchou and Nikos A. Aspragathos, "Routing and Scheduling for a Car-Like Robot in 2D Manufacturing Environment with TimeWindows," Ind. Robot. 36(2), 176-183 (2009).
25. J. H. Holland, Adaptation in Natural and Artificial Systems (The University of Michigan Press, Ann Arbor, MI; 1975).
26. R. Thomsen, G. Fogel and T. Krink, "A Clustal Alignment Improver using Evolutionary Algorithms," Proceedings of the 2002 Congress on Evolutionary Computation-CEC'02, Honolulu, HI, USA (May 12-May 17 2002) pp. 309-314.
27. L. Davis, "Applying Adaptive Algorithms to Epistatic Domains," Proceedings of the International Joint Conference on Artificial Intelligence, Los Angeles, Calif (August 1985) pp. 162-164.