Optimal Path Planning for Dynamic Platforms

• Main Authors: Jr-Rung Lin, 林稚融
• Other Authors: Nanjou Lin
• Format: Others
• Language: en_US
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/42737135950536233560

碩士 === 逢甲大學 === 自動控制工程所 === 92 === The thesis proposes a genetic algorithm and a DNA computing-based algorithm to solve the optimal path planning problem on three dimensional (3D) space. We propose a new DNA computing-based optimal path planning algorithm on 3D space. In the proposed approach, the path searching space is converted into several slices by using the DNA coding scheme and the numbers of slices are changeable in the evolutionary process so as to fit the locations of obstacles. The molecular programming algorithm imitates the biological evolution mechanism through artificial programming to enhance the opportunity for searching the shortest moving path while avoiding obstacles. Extensive numerical experiments are presented to confirm superiority of the proposed approach. In addition, the genetic algorithm and DNA computing-based algorithm are also proposed to search for the optimal path while avoiding singularities for a 6 degree-of-freedoms (DOFs) dynamic platform. The base platform of this dynamic system has three linear slideways each actuated by a linear DC motor, each extensible vertical link connecting the upper and base platforms is actuated by an inductive AC servo motor. The problem of finding the precise singular attitudes is solved by applying a genetic algorithm. Characterization of the workspace and development of the path planning technique are presented by genetic algorithm and DNA algorithm. Special emphasis is put on characterizing the platform singularity characterization and singularity avoidance of the moving platform path planning based on genetic algorithm and DNA algorithm. Simulation results are presented to show the effectiveness of the proposed methods.