Cubic Spline Interpolation-Based Robot Path Planning Using a Chaotic Adaptive Particle Swarm Optimization Algorithm
المؤلفون المشاركون
Liu, Weirong
Lian, Jianfang
Yu, Wentao
Xiao, Kui
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-20، 20ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2020-02-20
دولة النشر
مصر
عدد الصفحات
20
التخصصات الرئيسية
الملخص EN
This paper proposed a cubic spline interpolation-based path planning method to maintain the smoothness of moving the robot’s path.
Several path nodes were selected as control points for cubic spline interpolation.
A full path was formed by interpolating on the path of the starting point, control points, and target point.
In this paper, a novel chaotic adaptive particle swarm optimization (CAPSO) algorithm has been proposed to optimize the control points in cubic spline interpolation.
In order to improve the global search ability of the algorithm, the position updating equation of the particle swarm optimization (PSO) is modified by the beetle foraging strategy.
Then, the trigonometric function is adopted for the adaptive adjustment of the control parameters for CAPSO to weigh global and local search capabilities.
At the beginning of the algorithm, particles can explore better regions in the global scope with a larger speed step to improve the searchability of the algorithm.
At the later stage of the search, particles do fine search around the extremum points to accelerate the convergence speed of the algorithm.
The chaotic map is also used to replace the random parameter of the PSO to improve the diversity of particle swarm and maintain the original random characteristics.
Since all chaotic maps are different, the performance of six benchmark functions was tested to choose the most suitable one.
The CAPSO algorithm was tested for different number of control points and various obstacles.
The simulation results verified the effectiveness of the proposed algorithm compared with other algorithms.
And experiments proved the feasibility of the proposed model in different dynamic environments.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Lian, Jianfang& Yu, Wentao& Xiao, Kui& Liu, Weirong. 2020. Cubic Spline Interpolation-Based Robot Path Planning Using a Chaotic Adaptive Particle Swarm Optimization Algorithm. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-20.
https://search.emarefa.net/detail/BIM-1193587
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Lian, Jianfang…[et al.]. Cubic Spline Interpolation-Based Robot Path Planning Using a Chaotic Adaptive Particle Swarm Optimization Algorithm. Mathematical Problems in Engineering No. 2020 (2020), pp.1-20.
https://search.emarefa.net/detail/BIM-1193587
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Lian, Jianfang& Yu, Wentao& Xiao, Kui& Liu, Weirong. Cubic Spline Interpolation-Based Robot Path Planning Using a Chaotic Adaptive Particle Swarm Optimization Algorithm. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-20.
https://search.emarefa.net/detail/BIM-1193587
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1193587
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر