A Modified Membrane-Inspired Algorithm Based on Particle Swarm Optimization for Mobile Robot Path Planning
A Modified Membrane-Inspired Algorithm Based on Particle Swarm Optimization for Mobile Robot Path Planning
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DOI：
10.15837/ijccc.2015.5.2030
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发表时间：
2015-06
期刊：
影响因子：
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通讯作者：
Xueyuan Wang;Gexiang Zhang;Junbo Zhao;Haina Rong;F. Ipate;R. Lefticaru
中科院分区：
文献类型：
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作者：
Xueyuan Wang;Gexiang Zhang;Junbo Zhao;Haina Rong;F. Ipate;R. Lefticaru
针对具有动态障碍物的危险环境中移动机器人的多目标路径规划问题，将膜系统与粒子群算法相结合，提出了一种改进的基于膜系统的粒子群算法(MMPSO)。在mMPSO算法中，引入了动态双层一级膜结构来排列不同尺寸的粒子，并实现不同膜中粒子之间的通信；提出了点修复算法，将不可行路径转化为可行路径；提出了光滑度算法，去除了可行路径的冗余信息；受收紧钓鱼线的思想启发，对路径上的每个节点引入了移动方向调整，以提高算法的性能。在三种网格模型和五种障碍物的不同环境下进行了广泛的实验，验证了mMPSO算法的有效性和实用性。
To solve the multi-objective mobile robot path planning in a dangerous environment with dynamic obstacles, this paper proposes a modified membraneinspired algorithm based on particle swarm optimization (mMPSO), which combines membrane systems with particle swarm optimization. In mMPSO, a dynamic double one-level membrane structure is introduced to arrange the particles with various dimensions and perform the communications between particles in different membranes; a point repair algorithm is presented to change an infeasible path into a feasible path; a smoothness algorithm is proposed to remove the redundant information of a feasible path; inspired by the idea of tightening the fishing line, a moving direction adjustment for each node of a path is introduced to enhance the algorithm performance. Extensive experiments conducted in different environments with three kinds of grid models and five kinds of obstacles show the effectiveness and practicality of mMPSO.