Optimization of control parameters for genetic algorithms
IEEE Transactions on Systems, Man and Cybernetics
Adaptation in natural and artificial systems
Adaptation in natural and artificial systems
Automatica (Journal of IFAC)
Genetic algorithms + data structures = evolution programs (3rd ed.)
Genetic algorithms + data structures = evolution programs (3rd ed.)
Evolution and Optimum Seeking: The Sixth Generation
Evolution and Optimum Seeking: The Sixth Generation
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms and Manufacturing Systems Design
Genetic Algorithms and Manufacturing Systems Design
Using Genetic Algorithms in Engineering Design Optimization with Non-Linear Constraints
Proceedings of the 5th International Conference on Genetic Algorithms
Proceedings of the 5th International Conference on Genetic Algorithms
Optimal Trajectory Planning for Wheeled Mobile Robots Based on Kinematics Singularity
Journal of Intelligent and Robotic Systems
Dynamics and Cooperative Object Manipulation Control of Suspended Mobile Manipulators
Journal of Intelligent and Robotic Systems
Smooth path and speed planning for an automated public transport vehicle
Robotics and Autonomous Systems
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This paper addresses the time-optimal motion planning (TOMP) problem between two configurations for a mobile robot with two independently driven wheels. Different from previous methods, in which one needs to solve a set of differential equations, a discrete method is proposed to solve this problem. The first step is to transform the TOMP problem into a nonlinear programming (NLP) problem by an iterative procedure, in which the sampling period and the control inputs are chosen as variables, and the traveling time is to be minimized. Since it is usually hard to find initial feasible solutions of an NLP problem, a method that combines the concepts of genetic algorithms (GAs) and penalty functions is also proposed. In this manner, the NLP problem can be solved since initial feasible solutions can be generated easily. Simulation results are included to show the validity of the proposed method.