Hierarchical Trajectory Planning of Robot Manipulators with Structured Intelligence by Virus-Evolutionary Genetic Algorithm.

Abstract

This paper deals with a robotic system with structured intelligence. Recently, behavior engineering has been discussed as a new technological discipline. The intelligence of a robot depends on the structure of hardware and software for processing information, that is, the structure determines the potentiality of intelligence. A robotic system with structured intelligent is based on subsumption-like architecture. Based on perceptual information, a robot with structured intelligent makes action from four levels in parallel. In addition, the robot generates its motion through the interaction with environment, and at the same time, gradually acquires its skill based on the generated motion. To acquire skill and motion, the robot requires internal and external evaluations at least. This paper proposes an application of a virus-evolutionary genetic algorithm (VE-GA) to hierarchical trajectory planning of redundant manipulators with structured intelligence, and discusses its effectiveness through computer simulation results.