DocumentCode :
1736548
Title :
A quantum evolutionary algorithm for robot path planning in dynamic environment
Author :
Shen Xiaoning
Author_Institution :
Sch. of Inf. & Control, Nanjing Univ. of Inf. Sci. & Technol., Nanjing, China
fYear :
2013
Firstpage :
8061
Lastpage :
8065
Abstract :
In order to improve the searching efficiency of the real-time path planning problem for mobile robots, an improved quantum evolutionary algorithm is proposed. By using the grid method to build the environmental model, a novel decoding method which transforms the quantum individual into the path described by grid points is presented. On the basis of the quantum rotation gate, a repair operation specifically designed for the path planning problem and the cross and mutation operators in genetic algorithms are introduced to update the quantum population together. With the help of GUI in Matlab, process of the robot real-time path planning has been simulated. Simulation results indicate that the proposed method can obtain a feasible and short path in the complex environment. When a new obstacle appears suddenly, or the original ones move towards different directions, this method can also respond quickly and re-plan an optimal path in the new environment. Besides, comparisons with other path planning methods demonstrate that the given algorithm has the characteristics of high stability and robustness.
Keywords :
control engineering computing; genetic algorithms; graphical user interfaces; mobile robots; path planning; GUI; Matlab; cross operators; decoding method; environmental model; genetic algorithms; graphical user interface; grid method; improved quantum evolutionary algorithm; mobile robots; mutation operators; quantum rotation gate; repair operation; robot path planning; Evolutionary computation; Heuristic algorithms; Indexes; Path planning; Robots; Sociology; Statistics; Quantum evolutionary algorithm; grid method; real-time path planning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
Type :
conf
Filename :
6640861
Link To Document :
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