Path Planning for Mobile Objects in Four-Dimension Based on Particle Swarm Optimization Method with Penalty Function
Joint Authors
Ma, Yong
Zamirian, M.
Yang, Yadong
Xu, Yanmin
Zhang, Jing
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-01-28
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
We present one algorithm based on particle swarm optimization (PSO) with penalty function to determine the conflict-free path for mobile objects in four-dimension (three spatial and one-time dimensions) with obstacles.
The shortest path of the mobile object is set as goal function, which is constrained by conflict-free criterion, path smoothness, and velocity and acceleration requirements.
This problem is formulated as a calculus of variation problem (CVP).
With parametrization method, the CVP is converted to a time-varying nonlinear programming problem (TNLPP).
Constraints of TNLPP are transformed to general TNLPP without any constraints through penalty functions.
Then, by using a little calculations and applying the algorithm PSO, the solution of the CVP is consequently obtained.
Approach efficiency is confirmed by numerical examples.
American Psychological Association (APA)
Ma, Yong& Zamirian, M.& Yang, Yadong& Xu, Yanmin& Zhang, Jing. 2013. Path Planning for Mobile Objects in Four-Dimension Based on Particle Swarm Optimization Method with Penalty Function. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1010096
Modern Language Association (MLA)
Ma, Yong…[et al.]. Path Planning for Mobile Objects in Four-Dimension Based on Particle Swarm Optimization Method with Penalty Function. Mathematical Problems in Engineering No. 2013 (2013), pp.1-9.
https://search.emarefa.net/detail/BIM-1010096
American Medical Association (AMA)
Ma, Yong& Zamirian, M.& Yang, Yadong& Xu, Yanmin& Zhang, Jing. Path Planning for Mobile Objects in Four-Dimension Based on Particle Swarm Optimization Method with Penalty Function. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1010096
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1010096