Minor moves-global results: robot trajectory planning

Two simple algorithms are used to find the global optimum in a parameter space of high dimension. Both algorithms are based on local optimization-the first one uses the gradient method, the other one modified Kohonen nets. The main topic of interest is how the qualitative features of the global opti...

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Bibliographic Details
Published in[1990] Proceedings of the 2nd International IEEE Conference on Tools for Artificial Intelligence pp. 16 - 22
Main Author Hyotyniemi, H.
Format Conference Proceeding
LanguageEnglish
Published IEEE Comput. Soc. Press 1990
Subjects
Control engineering
Neural networks
Orbital robotics
Paints
Robots
Space technology
Spraying
Technology planning
Trajectory
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Summary:Two simple algorithms are used to find the global optimum in a parameter space of high dimension. Both algorithms are based on local optimization-the first one uses the gradient method, the other one modified Kohonen nets. The main topic of interest is how the qualitative features of the global optimum emerge as a consequence of iterated minor parameter adjustments. Planning the trajectory for a spray-painting robot is considered as an application example.< >
ISBN:0818620846
9780818620843
DOI:10.1109/TAI.1990.130303