Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment
In the smart home environment, aiming at the disordered and multiple destinations path planning, the sequencing rule is proposed to determine the order of destinations. Within each branching process, the initial feasible path set is generated according to the law of attractive destination. A sinusoi...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Electrical and Computer Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/3620895 |
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| author | Yong-feng Dong Hong-mei Xia Yan-cong Zhou |
| author_facet | Yong-feng Dong Hong-mei Xia Yan-cong Zhou |
| author_sort | Yong-feng Dong |
| collection | DOAJ |
| description | In the smart home environment, aiming at the disordered and multiple destinations path planning, the sequencing rule is proposed to determine the order of destinations. Within each branching process, the initial feasible path set is generated according to the law of attractive destination. A sinusoidal adaptive genetic algorithm is adopted. It can calculate the crossover probability and mutation probability adaptively changing with environment at any time. According to the cultural-genetic algorithm, it introduces the concept of reducing turns by parallelogram and reducing length by triangle in the belief space, which can improve the quality of population. And the fallback strategy can help to jump out of the “U” trap effectively. The algorithm analyses the virtual collision in dynamic environment with obstacles. According to the different collision types, different strategies are executed to avoid obstacles. The experimental results show that cultural-genetic algorithm can overcome the problems of premature and convergence of original algorithm effectively. It can avoid getting into the local optimum. And it is more effective for mobile robot path planning. Even in complex environment with static and dynamic obstacles, it can avoid collision safely and plan an optimal path rapidly at the same time. |
| format | Article |
| id | doaj-art-31333316143e4541a8db87992113ff5e |
| institution | Kabale University |
| issn | 2090-0147 2090-0155 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Electrical and Computer Engineering |
| spelling | doaj-art-31333316143e4541a8db87992113ff5e2025-02-03T05:47:56ZengWileyJournal of Electrical and Computer Engineering2090-01472090-01552016-01-01201610.1155/2016/36208953620895Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic EnvironmentYong-feng Dong0Hong-mei Xia1Yan-cong Zhou2School of Computer Science and Engineering, Big Data Computing Key Laboratory of Hebei Province, Hebei University of Technology, No. 5340 Xiping Road, Shuangkou, Beichen District, Tianjin 300401, ChinaSchool of Computer Science and Engineering, Hebei University of Technology, No. 5340 Xiping Road, Shuangkou, Beichen District, Tianjin 300401, ChinaSchool of Information Engineering, Tianjin University of Commerce, Tianjin, ChinaIn the smart home environment, aiming at the disordered and multiple destinations path planning, the sequencing rule is proposed to determine the order of destinations. Within each branching process, the initial feasible path set is generated according to the law of attractive destination. A sinusoidal adaptive genetic algorithm is adopted. It can calculate the crossover probability and mutation probability adaptively changing with environment at any time. According to the cultural-genetic algorithm, it introduces the concept of reducing turns by parallelogram and reducing length by triangle in the belief space, which can improve the quality of population. And the fallback strategy can help to jump out of the “U” trap effectively. The algorithm analyses the virtual collision in dynamic environment with obstacles. According to the different collision types, different strategies are executed to avoid obstacles. The experimental results show that cultural-genetic algorithm can overcome the problems of premature and convergence of original algorithm effectively. It can avoid getting into the local optimum. And it is more effective for mobile robot path planning. Even in complex environment with static and dynamic obstacles, it can avoid collision safely and plan an optimal path rapidly at the same time.http://dx.doi.org/10.1155/2016/3620895 |
| spellingShingle | Yong-feng Dong Hong-mei Xia Yan-cong Zhou Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment Journal of Electrical and Computer Engineering |
| title | Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment |
| title_full | Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment |
| title_fullStr | Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment |
| title_full_unstemmed | Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment |
| title_short | Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment |
| title_sort | disordered and multiple destinations path planning methods for mobile robot in dynamic environment |
| url | http://dx.doi.org/10.1155/2016/3620895 |
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