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Offline gain optimization in kinodynamic motion planning based on a harmonic potential field

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Abstract

A method of automatically optimizing gains is described for kinodynamic motion planning related to a controlled system consisting of a point mass. Kinodynamic motion planning proposed by Masoud has some gains and it is difficult to optimize such gains manually due to its interaction. Note, however, that any method for optimizing the gains has not been mentioned yet. Therefore, a method for optimizing all gains included in the kinodynamic motion planning is proposed by using a genetic algorithm.

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Author information

Authors and Affiliations

  1. Okayama University, Okayama, Japan

    Kimiko Motonaka, Keigo Watanabe & Shoichi Maeyama

Authors
  1. Kimiko Motonaka
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  2. Keigo Watanabe
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  3. Shoichi Maeyama
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Corresponding author

Correspondence to Kimiko Motonaka.

Additional information

This work was presented in part at the 18th International Symposium on Artificial Life and Robotics, Daejeon, Korea, January 30–February 1, 2013.

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Motonaka, K., Watanabe, K. & Maeyama, S. Offline gain optimization in kinodynamic motion planning based on a harmonic potential field. Artif Life Robotics 19, 47–54 (2014). https://doi.org/10.1007/s10015-013-0129-6

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  • DOI: https://doi.org/10.1007/s10015-013-0129-6

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