Self-adaptive mutation in the differential evolution

2011 ◽  
Author(s):  
Rodrigo César Pedrosa Silva ◽  
Rodolfo Ayala Lopes ◽  
Frederico Gadelha Guimarães
Keyword(s):  
Differential Evolution ◽  
Adaptive Mutation ◽  
Self Adaptive

scholarly journals Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110144
Author(s):  
Qianqian Zhang ◽  
Daqing Wang ◽  
Lifu Gao
Keyword(s):  
Differential Evolution ◽  
Objective Function ◽  
Inverse Kinematics ◽  
Differential Evolution Algorithm ◽  
Weight Coefficient ◽  
Adaptive Mutation ◽  
Feasible Region ◽  
Serial Manipulators ◽  
De Algorithm ◽  
Self Adaptive

To assess the inverse kinematics (IK) of multiple degree-of-freedom (DOF) serial manipulators, this article proposes a method for solving the IK of manipulators using an improved self-adaptive mutation differential evolution (DE) algorithm. First, based on the self-adaptive DE algorithm, a new adaptive mutation operator and adaptive scaling factor are proposed to change the control parameters and differential strategy of the DE algorithm. Then, an error-related weight coefficient of the objective function is proposed to balance the weight of the position error and orientation error in the objective function. Finally, the proposed method is verified by the benchmark function, the 6-DOF and 7-DOF serial manipulator model. Experimental results show that the improvement of the algorithm and improved objective function can significantly improve the accuracy of the IK. For the specified points and random points in the feasible region, the proportion of accuracy meeting the specified requirements is increased by 22.5% and 28.7%, respectively.

scholarly journals Optimum manipulator path generation based on improved differential evolution constrained optimization algorithm

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987206 ◽  
Author(s):  
Shimeng Fan ◽  
Xihua Xie ◽  
Xuanyi Zhou
Keyword(s):  
Differential Evolution ◽  
Constrained Optimization ◽  
Optimization Algorithm ◽  
Operation Time ◽  
Optimal Operation ◽  
Adaptive Mutation ◽  
Path Generation ◽  
End Effector ◽  
Joint Displacement ◽  
Self Adaptive

A new improved differential evolution constrained optimization algorithm is proposed to determine the optimum path generation of a rock-drilling manipulator with nine degrees of freedom. This algorithm is developed to minimize the total joint displacement without compromising the pose accuracy of the end-effector. Considering the rule for optimal operation time and smooth joint motion, total joint displacement and minimization of the end-effector pose error are respectively taken as the optimization objective and constraints. In the proposed algorithm, the inverse kinematics solution is computed by self-adaptive mutation differential evolution constrained optimization (SAMDECO) algorithm. Unlike conventional differential evolution (DE) algorithms, in the process of selection operation, the proposed algorithm takes full advantages of the information of excellent infeasible solutions in the contemporary population and scales the contribution of position constraint and orientation constraint. Consequently, the search process is guided to approach the optimal solution from both feasible and infeasible regions, which tremendously improves convergence accuracy and convergence rate. Some contrastive experiments are conducted with the basic self-adaptive mutation differential evoluton (SAMDE) algorithm. The results indicate that the proposed algorithm outperforms the basic SAMDE algorithm in terms of compliance of joints, which raises operation efficiency and plays an important role in engineering services value.

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