摘要
A novel algorithm, the immune genetic algorithm based on multi-agent, isproposed for the path planning of tightly coordinated two-robot manipulators, which constructsmainly immune operators accomplished by three steps: defining strategies and methods of multi-agent,calculating virtual forces acting on an agent, and constructing immune operators and performingimmunization during the evolutionary process. It is illustrated to be able to restrain thedegenerate phenomenon effectively and improve the searching ability with high converging speed.
A novel algorithm, the immune genetic algorithm based on multi-agent, isproposed for the path planning of tightly coordinated two-robot manipulators, which constructsmainly immune operators accomplished by three steps: defining strategies and methods of multi-agent,calculating virtual forces acting on an agent, and constructing immune operators and performingimmunization during the evolutionary process. It is illustrated to be able to restrain thedegenerate phenomenon effectively and improve the searching ability with high converging speed.
基金
Thisprojectissupportedby863programofChina(No.2001-AA422250).
