Optimization based path planning via Big Bang-Big Crunch with Local Search

Sabri Yilmaz; Metin Gökaşan

doi:10.1109/ICCSCE.2015.7482158

Optimization based path planning via Big Bang-Big Crunch with Local Search

Sabri Yilmaz
, Metin Gökaşan

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

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

1 Atıf (Scopus)

Özet

In this paper a search for the trajectory that minimizes the cost function is studied. In robotic studies the cost function can be defined as a function of time, tracking error or applied torque. In this study the cost function is selected as a function of applied torque, so the main aim is minimizing the energy consumption. For this purpose a simple robot manipulator is chosen, and its kinematic and dynamic models are derived by Denavit-Hartenberg convention and Euler-Lagrange method. Then two different trajectory polynomials are described, one is solved from boundary conditions without optimization and one is solved by optimization and the same boundary conditions. These two different trajectory polynomials and their cost functions values are compared. The effect and efficiency of optimization are examined.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	60-65
Sayfa sayısı	6
ISBN (Elektronik)	9781479982523
DOI'lar	https://doi.org/10.1109/ICCSCE.2015.7482158
Yayın durumu	Yayınlandı - 31 May 2016
Etkinlik	5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015 - Batu Ferringhi, Penang, Malaysia Süre: 27 Kas 2015 → 29 Kas 2015

Yayın serisi

Adı	Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015

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

???event.eventtypes.event.conference???	5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015
Ülke/Bölge	Malaysia
Şehir	Batu Ferringhi, Penang
Periyot	27/11/15 → 29/11/15

Bibliyografik not

Publisher Copyright:
© 2015 IEEE.

Belgeye Erişim

10.1109/ICCSCE.2015.7482158

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

Yilmaz, S., & Gökaşan, M. (2016). Optimization based path planning via Big Bang-Big Crunch with Local Search. In Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015 (pp. 60-65). Makale 7482158 (Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCSCE.2015.7482158

Yilmaz, Sabri ; Gökaşan, Metin. / Optimization based path planning via Big Bang-Big Crunch with Local Search. Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 60-65 (Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015).

@inproceedings{32668c22098c444a8efd4b7719981114,

title = "Optimization based path planning via Big Bang-Big Crunch with Local Search",

abstract = "In this paper a search for the trajectory that minimizes the cost function is studied. In robotic studies the cost function can be defined as a function of time, tracking error or applied torque. In this study the cost function is selected as a function of applied torque, so the main aim is minimizing the energy consumption. For this purpose a simple robot manipulator is chosen, and its kinematic and dynamic models are derived by Denavit-Hartenberg convention and Euler-Lagrange method. Then two different trajectory polynomials are described, one is solved from boundary conditions without optimization and one is solved by optimization and the same boundary conditions. These two different trajectory polynomials and their cost functions values are compared. The effect and efficiency of optimization are examined.",

keywords = "big bang-big crunch optimization algorithm, global optimization, robot dynamics, trajectory planning",

author = "Sabri Yilmaz and Metin G{\"o}ka{\c s}an",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015 ; Conference date: 27-11-2015 Through 29-11-2015",

year = "2016",

month = may,

day = "31",

doi = "10.1109/ICCSCE.2015.7482158",

language = "English",

series = "Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015",

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

pages = "60--65",

booktitle = "Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015",

address = "United States",

}

Yilmaz, S & Gökaşan, M 2016, Optimization based path planning via Big Bang-Big Crunch with Local Search. in Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015., 7482158, Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015, Institute of Electrical and Electronics Engineers Inc., pp. 60-65, 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015, Batu Ferringhi, Penang, Malaysia, 27/11/15. https://doi.org/10.1109/ICCSCE.2015.7482158

Optimization based path planning via Big Bang-Big Crunch with Local Search. / Yilmaz, Sabri; Gökaşan, Metin.
Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 60-65 7482158 (Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015).

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

TY - GEN

T1 - Optimization based path planning via Big Bang-Big Crunch with Local Search

AU - Yilmaz, Sabri

AU - Gökaşan, Metin

PY - 2016/5/31

Y1 - 2016/5/31

N2 - In this paper a search for the trajectory that minimizes the cost function is studied. In robotic studies the cost function can be defined as a function of time, tracking error or applied torque. In this study the cost function is selected as a function of applied torque, so the main aim is minimizing the energy consumption. For this purpose a simple robot manipulator is chosen, and its kinematic and dynamic models are derived by Denavit-Hartenberg convention and Euler-Lagrange method. Then two different trajectory polynomials are described, one is solved from boundary conditions without optimization and one is solved by optimization and the same boundary conditions. These two different trajectory polynomials and their cost functions values are compared. The effect and efficiency of optimization are examined.

AB - In this paper a search for the trajectory that minimizes the cost function is studied. In robotic studies the cost function can be defined as a function of time, tracking error or applied torque. In this study the cost function is selected as a function of applied torque, so the main aim is minimizing the energy consumption. For this purpose a simple robot manipulator is chosen, and its kinematic and dynamic models are derived by Denavit-Hartenberg convention and Euler-Lagrange method. Then two different trajectory polynomials are described, one is solved from boundary conditions without optimization and one is solved by optimization and the same boundary conditions. These two different trajectory polynomials and their cost functions values are compared. The effect and efficiency of optimization are examined.

KW - big bang-big crunch optimization algorithm

KW - global optimization

KW - robot dynamics

KW - trajectory planning

UR - https://www.scopus.com/pages/publications/84978786155

U2 - 10.1109/ICCSCE.2015.7482158

DO - 10.1109/ICCSCE.2015.7482158

M3 - Conference contribution

AN - SCOPUS:84978786155

T3 - Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015

SP - 60

EP - 65

BT - Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015

Y2 - 27 November 2015 through 29 November 2015

ER -

Yilmaz S, Gökaşan M. Optimization based path planning via Big Bang-Big Crunch with Local Search. In Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015. Institute of Electrical and Electronics Engineers Inc. 2016. p. 60-65. 7482158. (Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015). doi: 10.1109/ICCSCE.2015.7482158

Optimization based path planning via Big Bang-Big Crunch with Local Search

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