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General Information
    • ISSN: 1793-8198 (Print)
    • Abbreviated Title: Int. J. Mater. Mech. Manuf.
    • Frequency: Bimonthly
    • DOI: 10.18178/IJMMM
    • Editor-in-Chief: Prof. Ian McAndrew
    • Co-editor-in-Chief: Prof. K. M. Gupta
    • Executive Editor: Cherry L. Chen
    • Abstracting/Indexing: EI (INSPEC, IET), Chemical Abstracts Services (CAS),  ProQuest, Crossref, Ulrich's Periodicals Directory,  EBSCO.
    • E-mail ijmmm@ejournal.net

Editor-in-chief
Prof. Ian McAndrew
Capitol Technology University, USA
It is my honor to be the editor-in-chief of IJMMM. I will do my best to work with the editorial team and help make this journal better.

IJMMM 2013 Vol.1(4): 360-365 ISSN: 1793-8198
DOI: 10.7763/IJMMM.2013.V1.78

Finding Proper Configurations for Modular Robots by Using Genetic Algorithm on Different Terrains

Sajad Haghzad Klidbary, Saeed Bagheri Shouraki, and Salman Faraji
Abstract—This paper presents a novel self-reconfigurable robotic system named ACMoD where each module can move itself individually. It can also attach to other modules to build various configurations and change this configuration adaptively on different terrains. In this paper, we have proposed Genetic Algorithm for optimizing the path of modular robots through a static grid of different terrain blocks. Each chromosome consists of path and modular robot configurations. Solution of the proposed algorithm is a proper path and configuration pattern for crossing the environment with minimum effort related to a pre-defined multi-objective function. Finally, for investigating the efficiency of the proposed algorithm, the performance of proposed algorithm is compared to Dijkstra algorithm in different environments.

Index Terms—Dijkstra algorithm, genetic algorithm, modular robots, path planning.

F. A. Sajad Haghzad Klidbary is with Aritificial Creatures Lab, Electrical Engineering School, Sharif University of Technology, Tehran, Iran (e-mail: haghzad@ee.sharif.edu). S.B. Saeed Bagheri Shouraki is head of Aritificial Creatures Lab, Electrical Engineering School, Sharif University of Technology, Tehran, Iran (e-mail: bagheri-s@sharif.edu). T.C. Salman Faraji is in Ecole Polytechnique Fédérale de Lausanne (EPFL), Switzerland (e-mail: salman.Faraji@epfl.ch). Find some videos showing the performance of the robot at http://ee.sharif.edu/~acl/Projects/ACMoD.

[PDF]

Cite:Sajad Haghzad Klidbary, Saeed Bagheri Shouraki, and Salman Faraji, "Finding Proper Configurations for Modular Robots by Using Genetic Algorithm on Different Terrains," International Journal of Materials, Mechanics and Manufacturing vol. 1, no. 4, pp. 360-365, 2013.

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