Application of neural networks and evolutionary programming to path-planning of planar manipulators신경망과 진화프로그래밍을 이용한 플레너 매니퓰레이터의 경로계획

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dc.contributor.advisorPark, Cheol-Hoon-
dc.contributor.advisor박철훈-
dc.contributor.authorYu, Jung-Pil-
dc.contributor.author유정필-
dc.date.accessioned2011-12-14T01:39:55Z-
dc.date.available2011-12-14T01:39:55Z-
dc.date.issued1997-
dc.identifier.urihttp://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=114212&flag=dissertation-
dc.identifier.urihttp://hdl.handle.net/10203/36916-
dc.description학위논문(석사) - 한국과학기술원 : 전기및전자공학과, 1997.2, [ [vii], 56 p. ]-
dc.description.abstractIn this thesis, a new approach to path-planning is proposed. A proposed path-planning uses a neural network and evolutionary programming as its learning algorithm. A neural network is used to produce a control sequence of a robot manipulator. Evolutionary programming is adopted as a learning algorithm of a neural network. This method takes the robot dynamics into consideration while the path is searched with a cost function that includes input energy, fixed time constraint, position error, and so on. The advantage of this method is that it can simply find a cost optimal path of a robot manipulator without any complex mathematical formulation. Depending on cost functions, the proposed path-planning can result in not only a simple path but also a collision-free path. In addition, this method result in a universal path-planning. The neural network learns several paths that lead to fixed points in advance. Then a universal path-planning refers to obtaining the path that leads to a point in the vicinity of fixed points without learning phase of a neural network. A universal path-planning owes the generalization capability of neural networks.eng
dc.languageeng-
dc.publisher한국과학기술원-
dc.subjectEvolutionary programming-
dc.subjectNeural networks-
dc.subjectPath planning-
dc.subjectRobotics-
dc.subject로보틱스-
dc.subject진화프로그래밍-
dc.subject신경회로망-
dc.subject경로계획-
dc.titleApplication of neural networks and evolutionary programming to path-planning of planar manipulators-
dc.title.alternative신경망과 진화프로그래밍을 이용한 플레너 매니퓰레이터의 경로계획-
dc.typeThesis(Master)-
dc.identifier.CNRN114212/325007-
dc.description.department한국과학기술원 : 전기및전자공학과, -
dc.identifier.uid000953180-
dc.contributor.localauthorPark, Cheol-Hoon-
dc.contributor.localauthor박철훈-
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EE-Theses_Master(석사논문)
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