S. Sakka (France)
self tuning control, evolutionary algorithm, multi-criteria optimization
This paper presents a reliable evolutionary-based control generator, intended for mobile manipulation tasks. The control module is an autonomous system that interacts with a preliminary design algorithm of mobile manipulators. Different potential structures are generated by the algo rithm. The control part has to deal with delicate problems of controlling highly complex structures that can radically change. In this purpose, a performing evolutionary algo rithm, task-based is proposed, where several solutions to fulfill the control problem exist. Consequently, this ap proach makes the outing of the optimization search sys tematically positive, moreover it compensates some lack of information about the tested structure.
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