Document Type
Thesis
Date of Award
8-31-1991
Degree Name
Master of Science in Electrical Engineering - (M.S.)
Department
Electrical and Computer Engineering
First Advisor
Nirwan Ansari
Second Advisor
Edwin Hou
Third Advisor
Zoran Siveski
Abstract
The thesis addresses the path planning problem for a mobile manipulator system which is used to perform a sequence of tasks specified by locations and minimum oriented force capabilities. The problem is to find an optimal sequence of base positions and manipulator configurations for performing a sequence of tasks given a series of task specifications. The formulation of the problem is nonlinear. The feasible regions for the problem are nonconvex and unconnected. Genetic algorithms applied to such problems appear to be very promising while traditional optimization methods cause difficulties. Computer simulation is carried out on a three degrees-of-freedom manipulator mounted on a 2 degrees-of-freedom mobile base to search for the near optimal path planning solution for performing the sequence of tasks.
Recommended Citation
Zhao, Min, "Mobile manipulator path planning by a genetic algorithm" (1991). Theses. 2688.
https://digitalcommons.njit.edu/theses/2688
