Experiments on Space Robot Motion Control using Genetic Algorithm

Toshiaki Iwata; Hiroshi Murakami

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Experiments on Space Robot Motion Control using Genetic Algorithm

机译：基于遗传算法的空间机器人运动控制实验

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We proposed a sensor-based method to simultaneously control the orientation and the arm position of a space robot via only arm motion, using a database of the relationships among the current sensor outputs the robot action, and the change of sensor outputs. A genetic algorithm (GA) is used to determine the arm path. A "gene" in the GA represents one motion, and the "chromosome" expresses the total motion. The GA yielded the shortest path after 2,436 generations. One of the advantages of the GA is planning a temporary path in the early stage. We confirmed the validity of our method in experi- ments using a drop shaft which provides ten seconds of microgravity during free fall.

机译：我们提出了一种基于传感器的方法，该方法使用当前传感器输出的机器人动作与传感器输出的变化之间的关系数据库，仅通过手臂运动即可同时控制太空机器人的方向和手臂位置。遗传算法（GA）用于确定手臂路径。 GA中的“基因”代表一个运动，而“染色体”则代表整个运动。遗传算法产生了2,436代之后的最短路径。 GA的优势之一是在早期阶段规划了一条临时道路。我们使用下落轴在自由落体过程中提供十秒钟的微重力来证实我们的方法在实验中的有效性。

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《Space Forum》 |2000年第4期|p.381-388|共8页
作者
Toshiaki Iwata; Hiroshi Murakami;
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原文格式 PDF
正文语种 eng
中图分类航天（宇宙航行）;
关键词
Space robot; Genetic algorithm; Sensor-based control;

机译：太空机器人;遗传算法基于传感器的控制;

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专利

1. Experiments on Space Robot Motion Control using Genetic Algorithm [J] . Toshiaki Iwata, Hiroshi Murakami Space Forum . 2000,第1a4期

机译：基于遗传算法的空间机器人运动控制实验
2. Optimum motion planning in joint space for robots using genetic algorithms [J] . Wei-Min Yun, Yu-Geng Xi Robotics and Autonomous Systems . 1996,第4期

机译：基于遗传算法的机器人关节空间最优运动规划
3. Genetic algorithms with variable search space function for fine gain tuning of model-based robotic servo controller [J] . Akimasa Otsuka, Akihiko Ikeda, Fusaoml Nagata International Journal of Mechatronics and Manufacturing Systems . 2013,第1期

机译：具有可变搜索空间功能的遗传算法，用于基于模型的机器人伺服控制器的微调
4. A comparison of genetic programming and genetic algorithms for auto-tuning mobile robot motion control [C] . Walker, M., Messom, Electronic Design, Test and Applications, 2002. Proceedings. The First IEEE International Workshop on . 2002

机译：遗传编程和遗传算法用于自动调整移动机器人运动控制的比较
5. Experiments in thrusterless robot locomotion control for space applications. [D] . Jasper, Warren Joseph. 1990

机译：用于太空应用的无推进器机器人运动控制实验。
6. Genetic Algorithm-Based Motion Estimation Method using Orientations and EMGs for Robot Controls [O] . Jeongsook Chae, Yong Jin, Yunsick Sung, 2018

机译：基于方向和肌电图的基于遗传算法的机器人控制运动估计方法
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。

Experiments on Space Robot Motion Control using Genetic Algorithm

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