Trajectory Generation for Redundant Manipulator using Virus-Evolutionary Genetic Algorithm with Subpopulations
Takemasa Arakawa*, Toshio Fukuda* and Naoyuki Kubota**
*Department of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-01, Japan
**Department of Mechanical Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi-ku, Osaka 535 Japan
In this paper, we apply a virus-evolutionary genetic algorithm with subpopulations (VEGAS) to a trajectory generation problem for redundant manipulators through energy optimization. VEGAS is based on the virus theory of evolution and VEGAS has some subpopulations that usually evolve independently. In the same subpopulation, a virus infects host individuals. And a virus sometimes immigrates from one subpopulation to another. The genetic information from one subpopulation propagates in another subpopulation only through immigration of the virus. The energy-optimized collision-free trajectory was found successfully using VEGAS.