Robot Path Planning Based on an Improved Multi-Objective PSO Method
Li Di, Zheng Zheng, Meng Xia, Min Xia
Available Online September 2016.
- https://doi.org/10.2991/iccia-16.2016.82How to use a DOI?
- Multi-objective evolutionary algorithm; SPEA2; Robot path planning; PSO.
- Robot path planning is an important content in the field of robot research. Robot Path Planning is a typical multi-objective optimization problem. The path length, the degree of path smoothness and the degree of security are the optimization objectives in this work. And an improved multi-objective PSO method is used for optimization. In this method, in order to make the particle population multi-objective particle swarm optimization algorithm can quickly converge to the Pareto optimal boundary, an environment selection and a matching selection strategy are proposed. At each iteration of the algorithm, in order to improve the population information exchange and reduce the randomness, the environmental selection and matching selection strategy of SPEA2 are used for multi-objective PSO method, and the particle population can faster convergence to the Pareto optimal boundary. The simulation results verify the method, and the result of proposed method is better than that of multi-objective PSO method, and the simulations indicates that the proposed model is practical for robot path planning.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Li Di AU - Zheng Zheng AU - Meng Xia AU - Min Xia PY - 2016/09 DA - 2016/09 TI - Robot Path Planning Based on an Improved Multi-Objective PSO Method BT - 2016 International Conference on Computer Engineering, Information Science & Application Technology (ICCIA 2016) PB - Atlantis Press SP - 443 EP - 448 SN - 2352-538X UR - https://doi.org/10.2991/iccia-16.2016.82 DO - https://doi.org/10.2991/iccia-16.2016.82 ID - Di2016/09 ER -