Authors : A.Hassam , K. Benmahammed and M. Hamani
Abstract: In this study, motion planning and control of multi-joint mobile manipulators are studied using Genetic Algorithms and Fuzzy Logic. The proposed approach consists of two modules: one for collision free motion planning, the other for fine control of the mobile manipulator. The motion planning module uses a genetic algorithm to generate an optimal path avoiding any collision with possible obstacles existing in robot workspace. The motion control module is a fuzzy controller optimized by a genetic algorithm, which allow to the robot to accurately follow the path generated by the motion planning module without any prior knowledge of the robot dynamics. The effectiveness of the proposed method is evaluated through computer simulation of a two degrees of freedom mobile arm manipulator.
A.Hassam , K. Benmahammed and M. Hamani , 2006. Motion Planning and Control of Mobile Manipulators. Asian Journal of Information Technology, 5: 938-943.