@inproceedings{9b3b688347a147efb106ad95ad8c7a61,
title = "Mobile manipulator path planning by a genetic algorithm",
abstract = "The paper addresses the path planning problem for a mobile manipulator system which is used to perform a sequence of tasks specified by locations and minimum oriented force capabilities. The problem is to find an optimal sequence of base positions and manipulator configurations for performing a sequence of tasks given a series of task specifications. The formulation of the problem is nonlinear. The feasible regions for the problem are nonconvex and unconnected. Genetic algorithms applied to such problems appear to be very promising while traditional optimization methods cause difficulties. Computer simulations are carried out on a three-degrees-of-freedom manipulator mounted on a two-degrees-of-freedom mobile base to search for the near optimal path planning solution for performing the sequence of tasks.",
author = "Min Zhao and N. Ansari and Hou, {E. S.H.}",
note = "Publisher Copyright: {\textcopyright} 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.; 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 ; Conference date: 07-07-1992 Through 10-07-1992",
year = "1992",
doi = "10.1109/IROS.1992.587423",
language = "English (US)",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "681--688",
booktitle = "IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",
}