Path Planning of Construction Manipulators Using Genetic Algorithms

Abstract

This paper presents the work done to investigate the potential of applying Genetic Algorithms for path planning of construction manipulators. Construction manipulators can take the shape of specialized equipment such as the pipe manipulator or common equipment such as cranes. The need for automating the path of construction manipulators has been identified in a number of past studies. Path planning is a well-established area in robotics research, work in this area focuses on identifying new algorithms and techniques to improve the accuracy and efficiency of the automated path planning process. The application of Genetic Algorithms for robotic path planning is a relatively new development. This paper reviews different construction situations in which path planning is required and identifies the factors influencing path selection in construction situations. Genetic Algorithm models to find satisficing paths are proposed, The GA model and initial results for a simple test problem using a 2 DOF planar manipulator are also presented.