文章基本信息

标题：Multi-objective Particle Swarm Optimization for Robot Path Planning in Environment with Danger Sources
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作者：Gong, Dun-wei ; Zhang, Jian-hua ; Zhang, Yong 等
期刊名称：Journal of Computers
印刷版ISSN：1796-203X
出版年度：2011
卷号：6
期号：8
页码：1554-1561
DOI：10.4304/jcp.6.8.1554-1561
语种：English
出版社：Academy Publisher
摘要：Aiming at robot path planning in an environment with danger sources, a global path planning approach based on multi-objective particle swarm optimization is presented in this paper. First, based on the environment map of a mobile robot described with a series of horizontal and vertical lines, an optimization model of the above problem including two indices, i.e. the length and the danger degree of a path, is established. Then, an improved multi-objective particle swarm optimization algorithm of solving the above model is developed. In this algorithm, a self-adaptive mutation operation based on the degree of a path blocked by obstacles is designed to improve the feasibility of a new path. To improve the performance of our algorithm in exploration, another archive is adopted to save infeasible solutions besides a feasible solutions archive, and the global leader of particles is selected from either the feasible solutions archive or the infeasible one. Moreover, a constrained Pareto domination based on the degree of a path blocked by obstacles is employed to update local leaders of a particle and the two archives. Finally, simulation results confirm the effectiveness of our algorithm.
关键词：robot;path planning;particle swarm optimization;danger source