Metaheuristics for Robotics Computer Engineering Optimizatition Heuristics 1st Edition by Hamouche Oulhadj,Boubaker Daachi,Riad Menasri 9781786303806 1786303809

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ISBN 10:1786303809 
ISBN 13:9781786303806
Author:Hamouche Oulhadj,Boubaker Daachi,Riad Menasri

This book is dedicated to the application of metaheuristic optimization in trajectory generation and control issues in robotics. In this area, as in other fields of application, the algorithmic tools addressed do not require a comprehensive list of eligible solutions to effectively solve an optimization problem. This book investigates how, by reformulating the problems to be solved, it is possible to obtain results by means of metaheuristics.

Through concrete examples and case studies – particularly related to robotics – this book outlines the essentials of what is needed to reformulate control laws into concrete optimization data.

The resolution approaches implemented – as well as the results obtained – are described in detail, in order to give, as much as possible, an idea of metaheuristics and their performance within the context of their application to robotics.

Metaheuristics for Robotics Computer Engineering Optimizatition Heuristics 1st Table of contents:

Chapter 1. Optimization: Theoretical Foundations and Methods 

1.1. The formalization of an optimization problem 

1.2. Constrained optimization methods

1.2.1. The method of Lagrange multipliers

1.2.2. Method of the quadratic penalization

1.2.3. Methods of interior penalties 

1.2.4. Methods of exterior penalties 

1.2.5. Augmented Lagrangian method 

1.3. Classification of optimization methods 

1.3.1. Deterministic methods 

1.3.2. Stochastic methods 

1.4. Conclusion

1.5. Bibliography 

Chapter 2. Metaheuristics for Robotics 

2.1. Introduction 

2.2. Metaheuristics for trajectory planning problems 

2.2.1. Path planning 

2.2.2. Trajectory generation 

2.3. Metaheuristics for automatic control problems

2.4. Conclusion 

2.5. Bibliography 

Chapter 3. Metaheuristics for Constrained and Unconstrained Trajectory Planning 

3.1. Introduction 

3.2. Obstacle avoidance

3.3. Bilevel optimization problem 

3.4. Formulation of the trajectory planning problem

3.4.1. Objective functions 

3.4.2. Constraints 

3.5. Resolution with a bigenetic algorith

3.6. Simulation with the model of the Neuromate robot

3.6.1. Geometric model of the Neuromate robot

3.6.2. Kinematic model of the Neuromate robot

3.6.3. Simulation results

3.7. Conclusion 

3.8. Bibliography

Chapter 4. Metaheuristics for Trajectory Generation by Polynomial Interpolation 

4.1. Introduction

4.2. Description of the problem addressed

4.3. Formalization 

4.3.1. Criteria 

4.3.2. Constraints

4.4. Resolution 

4.4.1. Augmented Lagrangian

4.4.2. Genetic operators

4.4.3. Solution coding

4.5. Simulation results 

4.6. Conclusion 

4.7. Bibliography 

Chapter 5. Particle Swarm Optimization for Exoskeleton Control 

5.1. Introduction

5.2. The system and the problem under consideration 

5.2.1. Representation and model of the system under consideration

5.2.2. The problem under consideration 

5.3. Proposed control algorithm 

5.3.1. The standard PSO algorithm 

5.3.2. Proposed control approach 

5.4. Experimental results 

5.5. Conclusion 

5.6. Bibliography 

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Hamouche Oulhadj,Boubaker Daachi,Riad Menasri,Robotics,Engineering,Optimizatition