期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
DOI：10.5772/52251
语种：English
出版社：SAGE Publications
摘要：Mobile robots with omnidirectional wheels are expected to perform a wide variety of movements in a narrow space. However, kinematic mobility and dexterity have not been clearly identified as an objective to be considered when designing omnidirectional redundant robots. In light of this fact, this article proposes to maximize the dexterity of the mobile robot by properly locating the omnidirectional wheels. In addition, four hybrid differential evolution (DE) algorithm based on the synergetic integration of different kinds of mutation and crossover are presented. A comparison of metaheuristic and gradient-based algorithms for kinematic dexterity maximization is also presented.
