改进粒子群优化算法在路径优化中的应用

《改进粒子群优化算法在路径优化中的应用》由会员上传分享，免费在线阅读，更多相关内容在应用文档-天天文库。

1、AbstractWiththedevelopmentofartificialintelligence，theapplicationofrobots(suchas"Industrial，agricultural，medical，aerospace．etc．)ismoreandmorewidelyinmodemliferecently．Pathplanningisthemostbasicpartfortherobotstoimplementalloperations，whoseessenceistofinda

2、path，whichissatisfiedsomecertaincriteriaa11dh2Lsnocollisionwithallobstaclesfromthestarttotheend，intheenvironmentfullofobstaclesaccordingtosomecriteria(suchas：theshortestpath，lesstimeconsuming，securityandSOon)．Inthistask，thisproblemisdiscussedfromthefollow

3、ingaspects：(1)Environmentofoptimization：Generally，theenvironmentforpathplanningusuallycontainsstaticenvironmentanddynamicenvironment．Staticenvironmentdescribesthatobstaclesdon’tchangewithtime，whileobstaclesvarywiththechangeoftimeindynamicenvironment．Thist

4、askisbasedonthebasistostudythegeneralprocessofpathplanningunderstaticenvironment·(2)Processofproblems：Thereisalwaysnotonlyaoptimizedcriterionforpathplanningproblemsandsecurityandtheshortestpathareregardedasmaincriteriawinthistopic．ThesetwocriteriaCanbetak

5、enasawholeobjective，whichisatotalpenaltyfunctiontoevaluatetheproblem．Inthepreviouslywork，astaticpenaltyfunctionisusedtodescribetheproblem，whiledynamicconstraintmethodsareemployedtoovercomethedrawbackofstaticpenaltyfunctioninlaterperiod．0ntlleotherhand，mul

6、ti．objectiveoptimizationisappliedtodeal、析ththiskindofproblemformorethanoneevaluation．Becausesecurityandtheshortestpatharecontradictoryandcall’tbesatisfiedatthesametime，somemethodsshouldbeproposedtomeetthedemandofdifferentusers，sothesecriteriaareregardedas

7、multi-objectiveprobleminlaterperiodwork．Multi．objectiveoptimizationcouldoptimizeafewobjectivessimultaneouslyandCoordinatethesegoals，andthealgorithmwillgenerateagroupofParetooptimalsolutionseverytimeforthedesigner，SOusercarlselectthesuitablesolutionsaccord

8、ingtotheirneedforcriteria．IIIAbslract(3)Selectionofcurve：Toensurethegeneratedpathsmoothnessiscriticalconditionintheprocessofduringtherobotnavigationforpathplanning．Mostofresearchersareconcentratedonfmdingtheshortest