Path Planning of Cooperative Construction Manipulators Using Genetic Algorithms

Abstract

See, stats, and : https : / / www . researchgate . net / publication / 267257538 PATH CONSTRUCTION GENETIC Article CITATIONS 5 READS 8 5 , including : Koshy Indian 56 SEE N . Ramesh Indian 52 SEE All . Ramesh . The . All - text and , letting . Abstract : This paper presents the work done to investigate the potential of applying Genetic Algorithms (GA ' s) to automate the path planning of cooperative construction manipulators . Though there is potential to achieve economy by using cooperative manipulators , this method is not being commonly adopted in construction sites . A key barrier to the use of cooperative manipulators is the meticulous planning required to ensure feasible and safe operation . The basic premise of this work is that automating the different planning steps will contribute to more reliable plans and thus promote the usage of cooperative manipulator . Two methodologies have been proposed using the concept of Configuration Space (C - Space) technique in conjunction with the genetic search . The implementation details and results of the best methodology is presented and discussed for a test problem involving two cooperative manipulators each of 2 DOF .