改进粒子群优化算法在路径优化中的应用

改进粒子群优化算法在路径优化中的应用

ID:31959903

大小:4.77 MB

页数:70页

时间:2019-01-29

改进粒子群优化算法在路径优化中的应用_第1页
改进粒子群优化算法在路径优化中的应用_第2页
改进粒子群优化算法在路径优化中的应用_第3页
改进粒子群优化算法在路径优化中的应用_第4页
改进粒子群优化算法在路径优化中的应用_第5页
资源描述:

《改进粒子群优化算法在路径优化中的应用》由会员上传分享,免费在线阅读,更多相关内容在应用文档-天天文库

1、AbstractWiththedevelopmentofartificialintelligence,theapplicationofrobots(suchas"Industrial,agricultural,medical,aerospace.etc.)ismoreandmorewidelyinmodemliferecently.Pathplanningisthemostbasicpartfortherobotstoimplementalloperations,whoseessenceistofinda

2、path,whichissatisfiedsomecertaincriteriaa11dh2Lsnocollisionwithallobstaclesfromthestarttotheend,intheenvironmentfullofobstaclesaccordingtosomecriteria(suchas:theshortestpath,lesstimeconsuming,securityandSOon).Inthistask,thisproblemisdiscussedfromthefollow

3、ingaspects:(1)Environmentofoptimization:Generally,theenvironmentforpathplanningusuallycontainsstaticenvironmentanddynamicenvironment.Staticenvironmentdescribesthatobstaclesdon’tchangewithtime,whileobstaclesvarywiththechangeoftimeindynamicenvironment.Thist

4、askisbasedonthebasistostudythegeneralprocessofpathplanningunderstaticenvironment·(2)Processofproblems:Thereisalwaysnotonlyaoptimizedcriterionforpathplanningproblemsandsecurityandtheshortestpathareregardedasmaincriteriawinthistopic.ThesetwocriteriaCanbetak

5、enasawholeobjective,whichisatotalpenaltyfunctiontoevaluatetheproblem.Inthepreviouslywork,astaticpenaltyfunctionisusedtodescribetheproblem,whiledynamicconstraintmethodsareemployedtoovercomethedrawbackofstaticpenaltyfunctioninlaterperiod.0ntlleotherhand,mul

6、ti.objectiveoptimizationisappliedtodeal、析ththiskindofproblemformorethanoneevaluation.Becausesecurityandtheshortestpatharecontradictoryandcall’tbesatisfiedatthesametime,somemethodsshouldbeproposedtomeetthedemandofdifferentusers,sothesecriteriaareregardedas

7、multi-objectiveprobleminlaterperiodwork.Multi.objectiveoptimizationcouldoptimizeafewobjectivessimultaneouslyandCoordinatethesegoals,andthealgorithmwillgenerateagroupofParetooptimalsolutionseverytimeforthedesigner,SOusercarlselectthesuitablesolutionsaccord

8、ingtotheirneedforcriteria.IIIAbslract(3)Selectionofcurve:Toensurethegeneratedpathsmoothnessiscriticalconditionintheprocessofduringtherobotnavigationforpathplanning.Mostofresearchersareconcentratedonfmdingtheshortest

当前文档最多预览五页,下载文档查看全文

此文档下载收益归作者所有

当前文档最多预览五页,下载文档查看全文
温馨提示:
1. 部分包含数学公式或PPT动画的文件,查看预览时可能会显示错乱或异常,文件下载后无此问题,请放心下载。
2. 本文档由用户上传,版权归属用户,天天文库负责整理代发布。如果您对本文档版权有争议请及时联系客服。
3. 下载前请仔细阅读文档内容,确认文档内容符合您的需求后进行下载,若出现内容与标题不符可向本站投诉处理。
4. 下载文档时可能由于网络波动等原因无法下载或下载错误,付费完成后未能成功下载的用户请联系客服处理。