Abstract
In this paper, we apply virus-evolutionary genetic algorithm with subpopulations (VEGAS) to trajectory generation of redundant manipulator through energy optimization. VEGAS is based on the virus theory of evolution, it has subpopulations that usually evolve independently. A virus infects host individuals in the same subpopulation. And a virus sometimes immigrates from a subpopulation to another subpopulation. The energy-optimized trajectory has successfully been found by VEGAS.
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