Path Planning of Mobile Robot Based on Hybrid Multi-Objective Bare Bones Particle Swarm Optimization With Differential Evolution
An improved path planning for mobile robots is proposed based on the hybrid multi-objective bare-bones particle swarm optimization with differential evolution. The mathematical model for robot path planning is firstly devised as a tri-objective optimization with three indices, i.e., the path length,...
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| Format: | Article |
| Language: | English |
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IEEE
2018-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8436432/ |
| _version_ | 1818924263619428352 |
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| author | Jian-Hua Zhang Yong Zhang Yong Zhou |
| author_facet | Jian-Hua Zhang Yong Zhang Yong Zhou |
| author_sort | Jian-Hua Zhang |
| collection | DOAJ |
| description | An improved path planning for mobile robots is proposed based on the hybrid multi-objective bare-bones particle swarm optimization with differential evolution. The mathematical model for robot path planning is firstly devised as a tri-objective optimization with three indices, i.e., the path length, the smoothness degree of a path, and the safety degree of a path. Then, a hybrid multi-objective bare bones particle swarm optimization is developed to generate feasible paths by combining infeasible paths blocked by obstacles with feasible paths via improved mutation strategies of differential evolution. In addition, a new Pareto domination with collision constraints is developed to select the personal best position of a particle according to the definition of the collision degree of a path. Simulation results confirm the effectiveness of our algorithm. |
| first_indexed | 2024-12-20T02:22:33Z |
| format | Article |
| id | doaj.art-98296bdb2a2649478ac191e77a5d3dd4 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-20T02:22:33Z |
| publishDate | 2018-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-98296bdb2a2649478ac191e77a5d3dd42022-12-21T19:56:47ZengIEEEIEEE Access2169-35362018-01-016445424455510.1109/ACCESS.2018.28641888436432Path Planning of Mobile Robot Based on Hybrid Multi-Objective Bare Bones Particle Swarm Optimization With Differential EvolutionJian-Hua Zhang0https://orcid.org/0000-0002-9466-2923Yong Zhang1Yong Zhou2School of Mechanical and Electrical Engineering, Xuzhou Institute of Technology, Xuzhou, ChinaSchool of Information and Control Engineering, China University of Mining and Technology, Xuzhou, ChinaSchool of Computer Science Technology, China University of Mining and Technology, Xuzhou, ChinaAn improved path planning for mobile robots is proposed based on the hybrid multi-objective bare-bones particle swarm optimization with differential evolution. The mathematical model for robot path planning is firstly devised as a tri-objective optimization with three indices, i.e., the path length, the smoothness degree of a path, and the safety degree of a path. Then, a hybrid multi-objective bare bones particle swarm optimization is developed to generate feasible paths by combining infeasible paths blocked by obstacles with feasible paths via improved mutation strategies of differential evolution. In addition, a new Pareto domination with collision constraints is developed to select the personal best position of a particle according to the definition of the collision degree of a path. Simulation results confirm the effectiveness of our algorithm.https://ieeexplore.ieee.org/document/8436432/Robotpath planningparticle swarm optimizationdifferential evolution |
| spellingShingle | Jian-Hua Zhang Yong Zhang Yong Zhou Path Planning of Mobile Robot Based on Hybrid Multi-Objective Bare Bones Particle Swarm Optimization With Differential Evolution IEEE Access Robot path planning particle swarm optimization differential evolution |
| title | Path Planning of Mobile Robot Based on Hybrid Multi-Objective Bare Bones Particle Swarm Optimization With Differential Evolution |
| title_full | Path Planning of Mobile Robot Based on Hybrid Multi-Objective Bare Bones Particle Swarm Optimization With Differential Evolution |
| title_fullStr | Path Planning of Mobile Robot Based on Hybrid Multi-Objective Bare Bones Particle Swarm Optimization With Differential Evolution |
| title_full_unstemmed | Path Planning of Mobile Robot Based on Hybrid Multi-Objective Bare Bones Particle Swarm Optimization With Differential Evolution |
| title_short | Path Planning of Mobile Robot Based on Hybrid Multi-Objective Bare Bones Particle Swarm Optimization With Differential Evolution |
| title_sort | path planning of mobile robot based on hybrid multi objective bare bones particle swarm optimization with differential evolution |
| topic | Robot path planning particle swarm optimization differential evolution |
| url | https://ieeexplore.ieee.org/document/8436432/ |
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