TY  - BOOK
AU  - Oulhadj,Hamouche
AU  - Daachi,Boubaker
AU  - Menasri,Riad
TI  - Metaheuristics for Robotics
SN  - 9781119706984
AV  - TJ211.45 .O954 2020
U1  - 629.892 
PY  - 2020///
CY  - Newark
PB  - John Wiley & Sons, Incorporated
KW  - Robots-Programming
KW  - Electronic books
N1  - Cover -- Half-Title Page -- Title Page -- Copyright Page -- Contents -- Preface -- Introduction -- 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 -- 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 -- 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 algorithm -- 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 -- 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 -- 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 -- Conclusion -- Index -- Other titles from iSTE in Computer Engineering -- EULA
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ER  -