Optimal trajectory planning by Big Bang-Big Crunch algorithm

Sabri Yilmaz; Metin Gokasan

doi:10.1109/CoDIT.2014.6996955

Optimal trajectory planning by Big Bang-Big Crunch algorithm

Sabri Yilmaz
, Metin Gokasan

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

10 Atıf (Scopus)

Özet

Path planning is an interesting topic which is affected by lots of variables, as: time, energy, torque and stability. In this study, a new method based on Big Bang-Big Crunch algorithm is proposed to find optimum values of the parameters of a path and a cost function in order to minimize applied torque and tracking error. For this purpose the mathematical model of the manipulator is derived with mainly used methods, Denavit-Hartenberg, Jacobian and Euler-Lagrange methods. By using classical robot modeling methods, Big Bang-Big Crunch algorithm searched for the optimum trajectory and found the optimum value of the cost function.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014
Editörler	Imed Kacem, Pierre Laroche, Zsuzsanna Roka
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	557-561
Sayfa sayısı	5
ISBN (Elektronik)	9781479967735
DOI'lar	https://doi.org/10.1109/CoDIT.2014.6996955
Yayın durumu	Yayınlandı - 23 Ara 2014
Etkinlik	2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014 - Metz, France Süre: 3 Kas 2014 → 5 Kas 2014

Yayın serisi

Adı	Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014
Ülke/Bölge	France
Şehir	Metz
Periyot	3/11/14 → 5/11/14

Bibliyografik not

Publisher Copyright:
© 2014 IEEE.

Belgeye Erişim

10.1109/CoDIT.2014.6996955

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

Yilmaz, S., & Gokasan, M. (2014). Optimal trajectory planning by Big Bang-Big Crunch algorithm. In I. Kacem, P. Laroche, & Z. Roka (Eds.), Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014 (pp. 557-561). Makale 6996955 (Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CoDIT.2014.6996955

Yilmaz, Sabri ; Gokasan, Metin. / Optimal trajectory planning by Big Bang-Big Crunch algorithm. Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014. editör / Imed Kacem ; Pierre Laroche ; Zsuzsanna Roka. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 557-561 (Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014).

@inproceedings{f6729e1af34742e7ab5d7091446ffe1a,

title = "Optimal trajectory planning by Big Bang-Big Crunch algorithm",

abstract = "Path planning is an interesting topic which is affected by lots of variables, as: time, energy, torque and stability. In this study, a new method based on Big Bang-Big Crunch algorithm is proposed to find optimum values of the parameters of a path and a cost function in order to minimize applied torque and tracking error. For this purpose the mathematical model of the manipulator is derived with mainly used methods, Denavit-Hartenberg, Jacobian and Euler-Lagrange methods. By using classical robot modeling methods, Big Bang-Big Crunch algorithm searched for the optimum trajectory and found the optimum value of the cost function.",

keywords = "Big Bang-Big Crunch optimization algorithm, Path planning, Robot dynamics, Robot kinematics",

author = "Sabri Yilmaz and Metin Gokasan",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014 ; Conference date: 03-11-2014 Through 05-11-2014",

year = "2014",

month = dec,

day = "23",

doi = "10.1109/CoDIT.2014.6996955",

language = "English",

series = "Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "557--561",

editor = "Imed Kacem and Pierre Laroche and Zsuzsanna Roka",

booktitle = "Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014",

address = "United States",

}

Yilmaz, S & Gokasan, M 2014, Optimal trajectory planning by Big Bang-Big Crunch algorithm. in I Kacem, P Laroche & Z Roka (eds), Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014., 6996955, Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014, Institute of Electrical and Electronics Engineers Inc., pp. 557-561, 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014, Metz, France, 3/11/14. https://doi.org/10.1109/CoDIT.2014.6996955

Optimal trajectory planning by Big Bang-Big Crunch algorithm. / Yilmaz, Sabri; Gokasan, Metin.
Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014. ed. / Imed Kacem; Pierre Laroche; Zsuzsanna Roka. Institute of Electrical and Electronics Engineers Inc., 2014. p. 557-561 6996955 (Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014).

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

TY - GEN

T1 - Optimal trajectory planning by Big Bang-Big Crunch algorithm

AU - Yilmaz, Sabri

AU - Gokasan, Metin

PY - 2014/12/23

Y1 - 2014/12/23

N2 - Path planning is an interesting topic which is affected by lots of variables, as: time, energy, torque and stability. In this study, a new method based on Big Bang-Big Crunch algorithm is proposed to find optimum values of the parameters of a path and a cost function in order to minimize applied torque and tracking error. For this purpose the mathematical model of the manipulator is derived with mainly used methods, Denavit-Hartenberg, Jacobian and Euler-Lagrange methods. By using classical robot modeling methods, Big Bang-Big Crunch algorithm searched for the optimum trajectory and found the optimum value of the cost function.

AB - Path planning is an interesting topic which is affected by lots of variables, as: time, energy, torque and stability. In this study, a new method based on Big Bang-Big Crunch algorithm is proposed to find optimum values of the parameters of a path and a cost function in order to minimize applied torque and tracking error. For this purpose the mathematical model of the manipulator is derived with mainly used methods, Denavit-Hartenberg, Jacobian and Euler-Lagrange methods. By using classical robot modeling methods, Big Bang-Big Crunch algorithm searched for the optimum trajectory and found the optimum value of the cost function.

KW - Big Bang-Big Crunch optimization algorithm

KW - Path planning

KW - Robot dynamics

KW - Robot kinematics

UR - https://www.scopus.com/pages/publications/84921395913

U2 - 10.1109/CoDIT.2014.6996955

DO - 10.1109/CoDIT.2014.6996955

M3 - Conference contribution

AN - SCOPUS:84921395913

T3 - Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014

SP - 557

EP - 561

BT - Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014

A2 - Kacem, Imed

A2 - Laroche, Pierre

A2 - Roka, Zsuzsanna

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014

Y2 - 3 November 2014 through 5 November 2014

ER -

Yilmaz S, Gokasan M. Optimal trajectory planning by Big Bang-Big Crunch algorithm. In Kacem I, Laroche P, Roka Z, editörler, Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 557-561. 6996955. (Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014). doi: 10.1109/CoDIT.2014.6996955

Optimal trajectory planning by Big Bang-Big Crunch algorithm

Özet

Yayın serisi

???event.eventtypes.event.conference???

Bibliyografik not

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap