Evolutionary path planning algorithm for industrial robots

Fares J. Abu-Dakka, Francisco Valero, Vicente Mata

Research output: Contribution to journalArticlepeer-review


This paper proposed a new methodology to solve collision free path planning problem for industrial robot using genetic algorithms. The method poses an optimization problem that aims to minimize the significant points traveling distance of the robot. The behavior of more two operational parameters - the end effector traveling distance and computational time - are analyzed. This algorithm is able to obtain the solution for any industrial robot working in the complex environments, just it needs to choose a suitable significant points for that robot. An application example has been illustrated using robot Puma 560.

Original languageEnglish (US)
Pages (from-to)1369-1392
Number of pages24
JournalAdvanced Robotics
Issue number11-12
StatePublished - Jul 1 2012


  • adjacent configurations
  • collision avoidance
  • industrial robots
  • kinematics
  • path planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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