Multi-objective optimization of snake robot in serpentine locomotion

• Main Authors: Badran, Marwan A A, Khan, Md. Raisuddin, Toha, Siti Fauziah, Zainal Abidin, Zulkifli
• Format: Article
• Language: English; English
• Published: IIUM 2021
• Subjects: TJ212 Control engineering
• Online Access: http://irep.iium.edu.my/92529/7/92529_Multi-objective%20optimization%20of%20snake%20robot%20in%20serpentine%20locomotion_Scopus.pdf; http://irep.iium.edu.my/92529/13/92529_Multi-objective%20optimization%20of%20snake.pdf; http://irep.iium.edu.my/92529/; https://journals.iium.edu.my/ejournal/index.php/iiumej/article/view/1691/817

This paper presents multi-objective optimization for a snake robot with serpentine locomotion. Genetic algorithm (GA) is used to achieve two objectives: minimizing the total travelling time and minimizing the total energy consumption. The effect of initial values of winding angle and acceleration on...