A predictive evolutionary algorithm for dynamic constrained inverse kinematics problems

Authors:
Patryk Filipiak;Krzysztof Michalak;Piotr Lipinski
Affiliations:
Institute of Computer Science, University of Wroclaw, Wroclaw, Poland;Institute of Business Informatics, Wroclaw University of Economics, Wroclaw, Poland;Institute of Computer Science, University of Wroclaw, Wroclaw, Poland
Venue:
HAIS'12 Proceedings of the 7th international conference on Hybrid Artificial Intelligent Systems - Volume Part I
Year:
2012

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Abstract

This paper presents an evolutionary approach to the Inverse Kinematics problem. The Inverse Kinematics problem concerns finding the placement of a manipulator that satisfies certain conditions. In this paper apart from reaching the target point the manipulator is required to avoid a number of obstacles. The problem which we tackle is dynamic: the obstacles and the target point may be moving which necessitates the continuous update of the solution. The evolutionary algorithm used for this task is a modification of the Infeasibility Driven Evolutionary Algorithm (IDEA) augmented with a prediction mechanism based on the ARIMA model.