Gradient eigendecomposition invariance biogeography-based optimization for mobile robot path planning | |
Na XD(那晓栋)4; Wang, Jiaqian4; Han M(韩敏)2,3; Li DC(李德才)1 | |
刊名 | Soft Computing |
2022 | |
页码 | 1-14 |
关键词 | Mobile robot path planning Biogeography-based optimization Eigendecomposition Gradient decent strategy System search strategy |
ISSN号 | 1432-7643 |
产权排序 | 4 |
英文摘要 | The path planning for mobile robots has attracted extensive attention, and evolutionary algorithms have been applied to this problem increasingly. In this paper, we propose a novel gradient eigendecomposition invariance biogeography-based optimization (GEI-BBO) for mobile robot path planning, which has the merits of high rotation invariance and excellent search performance. In GEI-BBO, we design an eigendecomposition mechanism for migration operation, which can reduce the dependency of biogeography-based optimization (BBO) on the coordinate system, improve the rotation invariance and share the information between eigensolutions more effectively. Meanwhile, to find the local optimal solution better, gradient descent is added, and the system search strategy can reduce the occurrence of local trapping phenomenon. In addition, combining the GEI-BBO with cubic spline interpolation will solve the problem of mobile robot path planning through a defined coding method and fitness function. A series of experiments are implemented on benchmark functions, whose results indicated that the optimization performance of GEI-BBO is superior to other algorithms. And the successful application of GEI-BBO for path planning in different environments confirms its effectiveness and practicability. |
语种 | 英语 |
WOS记录号 | WOS:000800988200001 |
资助机构 | State Key Laboratory of Robotics (2019-O18) ; Fundamental Research Funds for the Central Universities (DUT20LAB114, DUT2018TB06) |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/31016] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Han M(韩敏) |
作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Professional Technology Innovation Center of Distributed Control for Industrial Equipment of Liaoning Province, Dalian University of Technology, Dalian 116024, China 3.Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education, Dalian University of Technology, Dalian 116024, China 4.Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian 116024, China |
推荐引用方式 GB/T 7714 | Na XD,Wang, Jiaqian,Han M,et al. Gradient eigendecomposition invariance biogeography-based optimization for mobile robot path planning[J]. Soft Computing,2022:1-14. |
APA | Na XD,Wang, Jiaqian,Han M,&Li DC.(2022).Gradient eigendecomposition invariance biogeography-based optimization for mobile robot path planning.Soft Computing,1-14. |
MLA | Na XD,et al."Gradient eigendecomposition invariance biogeography-based optimization for mobile robot path planning".Soft Computing (2022):1-14. |
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