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Abstract
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Article Information:
Optimal Robot Arm Movement using Tabu Search Algorithm
S. Mobaieen, A. Rabii and B. Mohamady
Corresponding Author: A. Rabii
Submitted: 2011 October, 31
Accepted: 2011 November, 25
Published: 2012 February, 15 |
Abstract:
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This study presents an optimum approach to calculate the optimal robot arm movement for
processing a considerable commitment of tasks using Tabu Search (TS) algorithm. In the scheduling problem,
the objective is to minimize the total processing time related to tasks distances from each other. In the first step,
the TS method is reviewed and we employ the proposed method in order to assign efficiently the optimal robot
arm movement. In our proposed algorithm, the crossover rate is large at first and gradually it is decreased based
on convergence improvement in next generations. We define an objective function including the operation
times. Then, by minimizing this function using discrete TS algorithm, the optimal robot arm movement
trajectory is assigned efficiently and quickly. If the resulted best cost converges to global minima, the crossover
rate will be decreased in next generation. This method is studied in terms of operation time, convergence speed
and quality of the results. Superior features of this algorithm are fast tuning, rapid convergence, less
computational burden and capability to avoid from local minima. High promising results demonstrate that our
proposed method is very efficient and can obtain higher quality solutions with better computational capability.
Key words: Arm movement, genetic algorithm, particle swarm optimization, reduced crossover, tabu search, task-sequencing,
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Cite this Reference:
S. Mobaieen, A. Rabii and B. Mohamady, . Optimal Robot Arm Movement using Tabu Search Algorithm. Research Journal of Applied Sciences, Engineering and Technology, (04): 383-386.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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