Title :
The application of hybrid orthogonal particle swarm optimization in robotic path planning
Author :
Ma Qian-zhi ; Lei Xiu-juan
Author_Institution :
Coll. of Comput. Sci., Shaanxi Normal Univ., Xi´an, China
Abstract :
Since particle swarm optimization is easily to fall into local optimization in robotic path planning, we proposed a novel hybrid orthogonal particle swarm optimization method to overcome the drawback. In the proposed algorithm, the global search ability was enhanced by introducing orthogonal design operator to the basic PSO algorithm and a special method to initial particles was designed to find the feasible path. Compared with traditional algorithms, the simulation result of our method demonstrated the superiority of the enhanced algorithm.
Keywords :
mobile robots; particle swarm optimisation; path planning; search problems; global searching; hybrid orthogonal particle swarm optimization; robotic path planning; Algorithm design and analysis; Equations; Optimization; Particle swarm optimization; Path planning; Robot kinematics; Orthogonal design operator; Particle swarm optimization; Robotic path planning;
Conference_Titel :
Natural Computation (ICNC), 2010 Sixth International Conference on
Conference_Location :
Yantai, Shandong
Print_ISBN :
978-1-4244-5958-2
DOI :
10.1109/ICNC.2010.5584143