DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Park, Cheol-Hoon | - |
dc.contributor.advisor | 박철훈 | - |
dc.contributor.author | Yu, Jung-Pil | - |
dc.contributor.author | 유정필 | - |
dc.date.accessioned | 2011-12-14T01:39:55Z | - |
dc.date.available | 2011-12-14T01:39:55Z | - |
dc.date.issued | 1997 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=114212&flag=dissertation | - |
dc.identifier.uri | http://hdl.handle.net/10203/36916 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 전기및전자공학과, 1997.2, [ [vii], 56 p. ] | - |
dc.description.abstract | In this thesis, a new approach to path-planning is proposed. A proposed path-planning uses a neural network and evolutionary programming as its learning algorithm. A neural network is used to produce a control sequence of a robot manipulator. Evolutionary programming is adopted as a learning algorithm of a neural network. This method takes the robot dynamics into consideration while the path is searched with a cost function that includes input energy, fixed time constraint, position error, and so on. The advantage of this method is that it can simply find a cost optimal path of a robot manipulator without any complex mathematical formulation. Depending on cost functions, the proposed path-planning can result in not only a simple path but also a collision-free path. In addition, this method result in a universal path-planning. The neural network learns several paths that lead to fixed points in advance. Then a universal path-planning refers to obtaining the path that leads to a point in the vicinity of fixed points without learning phase of a neural network. A universal path-planning owes the generalization capability of neural networks. | eng |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | Evolutionary programming | - |
dc.subject | Neural networks | - |
dc.subject | Path planning | - |
dc.subject | Robotics | - |
dc.subject | 로보틱스 | - |
dc.subject | 진화프로그래밍 | - |
dc.subject | 신경회로망 | - |
dc.subject | 경로계획 | - |
dc.title | Application of neural networks and evolutionary programming to path-planning of planar manipulators | - |
dc.title.alternative | 신경망과 진화프로그래밍을 이용한 플레너 매니퓰레이터의 경로계획 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 114212/325007 | - |
dc.description.department | 한국과학기술원 : 전기및전자공학과, | - |
dc.identifier.uid | 000953180 | - |
dc.contributor.localauthor | Park, Cheol-Hoon | - |
dc.contributor.localauthor | 박철훈 | - |
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