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A NEW EDUCATIONAL TOOLBOX FOR SOLVING ROBOTIC OPTIMIZATION PROBLEMS USING GA AND PSO
Öz
Two fundamental problems in robotic are the path planning for mobile robots to achieve a given task and the inverse kinematics for serial robots. In this study, these two problems were solved with two different heuristic optimization methods which are Genetic algorithm (GA) and Particle Swarm Optimization (PSO). GA and PSO results were compared in terms of the computational complexity of the algorithms and the feasibility of the solutions. According to the results, PSO outperforms GA with respect to both comparison criteria. Also, a new toolbox for using these optimization algorithms in robotic was developed for educational purposes. The toolbox was designed to simulate the solution of path planning problem in different environments and the inverse kinematics of a 6 Degrees of Freedom (DOFs) Puma robot with offset wrist.
Anahtar Kelimeler
Details
Primary Language
Turkish
Subjects
-
Journal Section
-
Publication Date
May 1, 2011
Submission Date
August 29, 2014
Acceptance Date
-
Published in Issue
Year 2011 Volume: 6 Number: 4
APA
Toz, M., Erdogmus, P., & Şahin, İ. (2011). A NEW EDUCATIONAL TOOLBOX FOR SOLVING ROBOTIC OPTIMIZATION PROBLEMS USING GA AND PSO. Engineering Sciences, 6(4), 1630-1644. https://doi.org/10.12739/nwsaes.v6i4.5000066973
AMA
1.Toz M, Erdogmus P, Şahin İ. A NEW EDUCATIONAL TOOLBOX FOR SOLVING ROBOTIC OPTIMIZATION PROBLEMS USING GA AND PSO. Engineering Sciences. 2011;6(4):1630-1644. doi:10.12739/nwsaes.v6i4.5000066973
Chicago
Toz, Metin, Pakize Erdogmus, and İbrahim Şahin. 2011. “A NEW EDUCATIONAL TOOLBOX FOR SOLVING ROBOTIC OPTIMIZATION PROBLEMS USING GA AND PSO”. Engineering Sciences 6 (4): 1630-44. https://doi.org/10.12739/nwsaes.v6i4.5000066973.
EndNote
Toz M, Erdogmus P, Şahin İ (May 1, 2011) A NEW EDUCATIONAL TOOLBOX FOR SOLVING ROBOTIC OPTIMIZATION PROBLEMS USING GA AND PSO. Engineering Sciences 6 4 1630–1644.
IEEE
[1]M. Toz, P. Erdogmus, and İ. Şahin, “A NEW EDUCATIONAL TOOLBOX FOR SOLVING ROBOTIC OPTIMIZATION PROBLEMS USING GA AND PSO”, Engineering Sciences, vol. 6, no. 4, pp. 1630–1644, May 2011, doi: 10.12739/nwsaes.v6i4.5000066973.
ISNAD
Toz, Metin - Erdogmus, Pakize - Şahin, İbrahim. “A NEW EDUCATIONAL TOOLBOX FOR SOLVING ROBOTIC OPTIMIZATION PROBLEMS USING GA AND PSO”. Engineering Sciences 6/4 (May 1, 2011): 1630-1644. https://doi.org/10.12739/nwsaes.v6i4.5000066973.
JAMA
1.Toz M, Erdogmus P, Şahin İ. A NEW EDUCATIONAL TOOLBOX FOR SOLVING ROBOTIC OPTIMIZATION PROBLEMS USING GA AND PSO. Engineering Sciences. 2011;6:1630–1644.
MLA
Toz, Metin, et al. “A NEW EDUCATIONAL TOOLBOX FOR SOLVING ROBOTIC OPTIMIZATION PROBLEMS USING GA AND PSO”. Engineering Sciences, vol. 6, no. 4, May 2011, pp. 1630-44, doi:10.12739/nwsaes.v6i4.5000066973.
Vancouver
1.Metin Toz, Pakize Erdogmus, İbrahim Şahin. A NEW EDUCATIONAL TOOLBOX FOR SOLVING ROBOTIC OPTIMIZATION PROBLEMS USING GA AND PSO. Engineering Sciences. 2011 May 1;6(4):1630-44. doi:10.12739/nwsaes.v6i4.5000066973