Robot path planning based on genetic algorithm with hybrid initialization method

2021 ◽  
pp. 1-16
Author(s):  
Zhaojun Zhang ◽  
Rui Lu ◽  
Minglong Zhao ◽  
Shengyang Luan ◽  
Ming Bu
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Iteration Process ◽  
Initial Population ◽  
Local Optimum ◽  
Complex Environments ◽  
Random Initialization ◽  
Planning Problems ◽  
Complete Path

The research of path planning method based on genetic algorithm (GA) for the mobile robot has received much attention in recent years. GA, as one evolutionary computation model, mimics the process of natural evolution and genetics. The quality of the initial population plays an essential role in improving the performance of GA. However, when GA based on a random initialization method is applied to path planning problems, it will lead to the emergence of infeasible solutions and reduce the performance of the algorithm. A novel GA with a hybrid initialization method, termed NGA, is proposed to solve this problem in this paper. In the initial population, NGA first randomly selects three free grids as intermediate nodes. Then, a part of the population uses a random initialization method to obtain the complete path. The other part of the population obtains the complete path using a greedy-related method. Finally, according to the actual situation, the redundant nodes or duplicate paths in the path are deleted to avoid the redundant paths. In addition, the deletion operation and the reverse operation are also introduced to the NGA iteration process to prevent the algorithm from falling into the local optimum. Simulation experiments are carried out with other algorithms to verify the effectiveness of the NGA. Simulation results show that NGA is superior to other algorithms in convergence accuracy, optimization ability, and success rate. Besides, NGA can generate the optimal feasible paths in complex environments.

Path planning of patrol robot based on improved discrete electrostatic discharge algorithm

2022 ◽  
pp. 1-12
Author(s):  
Yang Li ◽  
Simeng Chen ◽  
Ke Bai ◽  
Hao Wang
Keyword(s):  
Path Planning ◽  
Electrostatic Discharge ◽  
Fire Risk ◽  
Convergence Time ◽  
Economic Losses ◽  
Risk Level ◽  
Support Vector ◽  
Initial Population ◽  
Local Optimum ◽  
Planning Problem

Safety is the premise of the stable and sustainable development of the chemical industry, safety accidents will not only cause casualties and economic losses, but also cause panic among workers and nearby residents. Robot safety inspection based on the fire risk level in a chemical industrial park can effectively reduce process accident losses and can even prevent accidents. The optimal inspection path is an important support for patrol efficiency, therefore, in this study, the fire risk level of each location to be inspected, which is obtained by the electrostatic discharge algorithm (ESDA)–nonparallel support vector machine evaluation model, is combined with the optimisation of the inspection path; that is, the fire risk level is used to guide the inspection path planning. The inspection path planning problem is a typical travelling salesman problem (TSP). The discrete ESDA (DESDA), based on the ESDA, is proposed. In view of the shortcomings of the long convergence time and ease of falling into the local optimum of the DESDA, further improvements are proposed in the form of the IDESDA, in which the greedy algorithm is used for the initial population, the 2-opt algorithm is applied to generate new solutions, and the elite set is joined to provide the best segment for jumping out of the local optimum. In the experiments, 11 public calculation examples were used to verify the algorithm performance. The IDESDA exhibited higher accuracy and better stability when solving the TSP. Its application to chemical industrial parks can effectively solve the path optimisation problem of patrol robots.

Collaborative Scheduling of Algorithms for Path Planning of Unmanned Systems

2021 ◽  
Vol 01 ◽  
Author(s):  
Ying Li ◽  
Chubing Guo ◽  
Jianshe Wu ◽  
Xin Zhang ◽  
Jian Gao ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Reinforcement Learning ◽  
Path Planning ◽  
Unmanned Systems ◽  
Ant Colony Optimization Algorithm ◽  
A Algorithm ◽  
Collaborative Scheduling ◽  
Simulation Results ◽  
Planning Problems ◽  
Effective Path

Background: Unmanned systems have been widely used in multiple fields. Many algorithms have been proposed to solve path planning problems. Each algorithm has its advantages and defects and cannot adapt to all kinds of requirements. An appropriate path planning method is needed for various applications. Objective: To select an appropriate algorithm fastly in a given application. This could be helpful for improving the efficiency of path planning for Unmanned systems. Methods: This paper proposes to represent and quantify the features of algorithms based on the physical indicators of results. At the same time, an algorithmic collaborative scheme is developed to search the appropriate algorithm according to the requirement of the application. As an illustration of the scheme, four algorithms, including the A-star (A*) algorithm, reinforcement learning, genetic algorithm, and ant colony optimization algorithm, are implemented in the representation of their features. Results: In different simulations, the algorithmic collaborative scheme can select an appropriate algorithm in a given application based on the representation of algorithms. And the algorithm could plan a feasible and effective path. Conclusion: An algorithmic collaborative scheme is proposed, which is based on the representation of algorithms and requirement of the application. The simulation results prove the feasibility of the scheme and the representation of algorithms.

scholarly journals Utilizing Model Knowledge for Design Developed Genetic Algorithm to Solving Problem

2018 ◽  
Vol 3 (2) ◽  
pp. 172
Author(s):  
Hamidreza Salmani mojaveri
Keyword(s):  
Genetic Algorithm ◽  
Genetic Algorithms ◽  
Parallel Machines ◽  
Job Shop ◽  
Optimization Problems ◽  
Premature Convergence ◽  
Local Optimum ◽  
Scheduling Problems ◽  
Algorithm Implementation

One of the discussed topics in scheduling problems is Dynamic Flexible Job Shop with Parallel Machines (FDJSPM). Surveys show that this problem because of its concave and nonlinear nature usually has several local optimums. Some of the scheduling problems researchers think that genetic algorithms (GA) are appropriate approach to solve optimization problems of this kind. But researches show that one of the disadvantages of classical genetic algorithms is premature convergence and the probability of trap into the local optimum. Considering these facts, in present research, represented a developed genetic algorithm that its controlling parameters change during algorithm implementation and optimization process. This approach decreases the probability of premature convergence and trap into the local optimum. The several experiments were done show that the priority of proposed procedure of solving in field of the quality of obtained solution and convergence speed toward other present procedure.

Topological Design Using Genetic Algorithms

2013 ◽  
pp. 153-173
Author(s):  
Rui Manuel Morais ◽  
Armando Nolasco Pinto
Keyword(s):  
Genetic Algorithm ◽  
Programming Model ◽  
Capital Expenditure ◽  
Initial Population ◽  
Minimum Capital ◽  
Topological Design ◽  
Node Location ◽  
Telecommunications Services ◽  
Resilient Networks

The proliferation of Internet access and the appearance of new telecommunications services are originating a demand for resilient networks with extremely high capacity. Thus, topologies able to recover connections in case of failure are essential. Given the node location and the traffic matrix, the survivable topological design is the problem of determining the network topology at minimum capital expenditure such that survivability is ensured. This problem is strongly NP-hard and heuristics are traditionally used to search near-optimal solutions. The authors present a genetic algorithm for this problem. As the convergence of the genetic algorithm depends on the used operators, an analysis of their impact on the quality of the obtained solutions is presented as well. Two initial population generators, two selection methods, two crossover operators, and two population sizes are compared, and the quality of the obtained solutions is assessed using an integer linear programming model.

scholarly journals Adaptive Operator Quantum-Behaved Pigeon-Inspired Optimization Algorithm with Application to UAV Path Planning

Algorithms ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 3 ◽  
Author(s):  
Chunhe Hu ◽  
Yu Xia ◽  
Junguo Zhang
Keyword(s):  
Path Planning ◽  
Nonlinear Problems ◽  
Mapping Method ◽  
Initial Population ◽  
Local Optimum ◽  
Planning Problem ◽  
Dynamic Constraints ◽  
Logistic Mapping ◽  
Global And Local ◽  
Better Than

Path planning of unmanned aerial vehicles (UAVs) in threatening and adversarial areas is a constrained nonlinear optimal problem which takes a great amount of static and dynamic constraints into account. Quantum-behaved pigeon-inspired optimization (QPIO) has been widely applied to such nonlinear problems. However, conventional QPIO is suffering low global convergence speed and local optimum. In order to solve the above problems, an improved QPIO algorithm, adaptive operator QPIO, is proposed in this paper. Firstly, a new initialization process based on logistic mapping method is introduced to generate the initial population of the pigeon-swarm. After that, to improve the performance of the map and compass operation, the factor parameter will be adaptively updated in each iteration, which can balance the ability between global and local search. In the final landmark operation, the gradual decreasing pigeon population-updating strategy is introduced to prevent premature convergence and local optimum. Finally, the demonstration of the proposed algorithm on UAV path planning problem is presented, and the comparison result indicates that the performance of our algorithm is better than that of particle swarm optimization (PSO), pigeon-inspired optimization (PIO), and its variants, in terms of convergence and accuracy.

Research on Open Shop Scheduling Based on Genetic Algorithm

2013 ◽  
Vol 655-657 ◽  
pp. 1670-1674
Author(s):  
Yong Zhan ◽  
Yu Guang Zhong ◽  
Hai Tao Zhu
Keyword(s):  
Genetic Algorithm ◽  
Programming Model ◽  
Open Shop ◽  
Mixed Integer ◽  
Initial Population ◽  
Open Shop Scheduling ◽  
Shop Scheduling ◽  
Np Problem ◽  
Quality Of The Population

Open shop scheduling problem is a typical NP problem with wide engineering background. It is of importance with respect of theory and application. In this paper, a mixed integer programming model was established with the objective to minimize the makespan based on the characteristics of the open shop, and a evolution genetic algorithm(EGA) was proposed. The representation of chromosome used in this paper was composed of two layers: operation layer and machine layer, which can be encoded and decoded easily. In generating initial population, DS/LTRP heuristic was used in order to improve the quality of the population. And particular crossover operation was proposed, which generated multiple offspring at a time, so that the efficiency of the algorithm can be well improved. At last, the proposed algorithm was tested on taillard benchmark, and numerical example showed good result.

scholarly journals Path Planning for Mobile Agents Using a Genetic Algorithm with a Direction Guided Factor

Electronics ◽  
2018 ◽  
Vol 7 (10) ◽  
pp. 212 ◽  
Author(s):  
Hyeok-Yeon Lee ◽  
Hyunwoo Shin ◽  
Junjae Chae
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Shortest Path ◽  
Free Space ◽  
Mobile Agents ◽  
Dimensional Space ◽  
Target Point ◽  
Complex Environments ◽  
Search Spaces ◽  
Starting Point

This paper suggests a novel methodology in collision-free shortest path planning (CFSPP) problems for mobile agents (MAs) using a method that combines a genetic algorithm (GA) and a direction factor toward a target point. In the CFSPP problem, MAs find the shortest path from the starting point to the target point while avoiding certain obstacles. The paper proposes an obstacle-based search methodology that identifies critical collision-free points adjacent to given obstacles. When critical obstacles are found via CFSPP, this study suggests favorable paths in 2-dimensional space found using the obstacle-based GA (OBGA). The OBGA has four advantages. First, it effectively narrows the search spaces compared to free space-based methodologies. It also determines shorter collision-free paths, and it only requires a short amount of time. Finally, convergence occurs more quickly than in previous studies. The proposed method also works properly in larger and more complex environments, indicating that it can be applied to more practical problems.

scholarly journals Complete Path Planning for a Tetris-Inspired Self-Reconfigurable Robot by the Genetic Algorithm of the Traveling Salesman Problem

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 344 ◽  
Author(s):  
Anh Le ◽  
Manimuthu Arunmozhi ◽  
Prabakaran Veerajagadheswar ◽  
Ping-Cheng Ku ◽  
Tran Hoang Minh ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Real World ◽  
Travelling Salesman Problem ◽  
Second Phase ◽  
Complete Coverage ◽  
Reconfigurable Robot ◽  
Four Blocks ◽  
The Cost ◽  
Complete Path

The efficiency of autonomous systems that tackle tasks such as home cleaning, agriculture harvesting, and mineral mining depends heavily on the adopted area coverage strategy. Extensive navigation strategies have been studied and developed, but few focus on scenarios with reconfigurable robot agents. This paper proposes a navigation strategy that accomplishes complete path planning for a Tetris-inspired hinge-based self-reconfigurable robot (hTetro), which consists of two main phases. In the first phase, polyomino form-based tilesets are generated to cover the predefined area based on the tiling theory, which generates a series of unsequenced waypoints that guarantee complete coverage of the entire workspace. Each waypoint specifies the position of the robot and the robot morphology on the map. In the second phase, an energy consumption evaluation model is constructed in order to determine a valid strategy to generate the sequence of the waypoints. The cost value between waypoints is formulated under the consideration of the hTetro robot platform’s kinematic design, where we calculate the minimum sum of displacement of the four blocks in the hTetro robot. With the cost function determined, the waypoint sequencing problem is then formulated as a travelling salesman problem (TSP). In this paper, a genetic algorithm (GA) is proposed as a strong candidate to solve the TSP. The GA produces a viable navigation sequence for the hTetro robot to follow and to accomplish complete coverage tasks. We performed an analysis across several complete coverage algorithms including zigzag, spiral, and greedy search to demonstrate that TSP with GA is a valid and considerably consistent waypoint sequencing strategy that can be implemented in real-world hTetro robot navigations. The scalability of the proposed framework allows the algorithm to produce reliable results while navigating within larger workspaces in the real world, and the flexibility of the framework ensures easy implementation of the algorithm on other polynomial-based shape shifting robots.

scholarly journals Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Yong-feng Dong ◽  
Hong-mei Xia ◽  
Yan-cong Zhou
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Mobile Robot ◽  
Optimal Path ◽  
Dynamic Environment ◽  
Adaptive Genetic Algorithm ◽  
Local Optimum ◽  
Original Algorithm ◽  
Sequencing Rule ◽  
Planning Methods

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.

scholarly journals Intelligent Mapping Method for Power Consumption and Delay Optimization Based on Heterogeneous NoC Platform

Electronics ◽  
2019 ◽  
Vol 8 (8) ◽  
pp. 912 ◽  
Author(s):  
Juan Fang ◽  
Huan Zong ◽  
Haoyan Zhao ◽  
Huayi Cai
Keyword(s):  
Genetic Algorithm ◽  
Power Consumption ◽  
Hot Spot ◽  
Mapping Method ◽  
Research Field ◽  
Initial Population ◽  
Improved Genetic Algorithm ◽  
Mapping Problem ◽  
On Chip

As integrated circuit processes become more advanced, feature sizes become smaller and smaller, and more and more processing cores and memory components are integrated on a single chip. However, the traditional bus-based System-on-Chip (SoC) communication is inefficient, has poor scalability, and cannot handle the communication tasks between the processing cores well. Network-on-chip (NoC) has become an important development direction in this field by virtue of its efficient transmission and scalability of data between multiple cores. The mapping problem is a hot spot in NoC's research field, and its mapping results will directly affect the power consumption, latency, and other properties of the chip. The mapping problem is a NP-hard problem, so how to effectively obtain low-power and low-latency mapping schemes becomes a research difficulty. Aiming at this problem, this paper proposes a two-populations-with-enhanced-initial-population based on genetic algorithm (TI_GA) task mapping algorithm based on an improved genetic algorithm from the two indexes of power consumption and delay. The quality of the initial individual is optimized in the process of constructing the population, so the quality of initial population is improved. In addition, a two-population genetic mechanism is added during the iterative process of the algorithm. The experimental results show that TI_GA is very effective for optimizing network power consumption and delay of heterogeneous multi-core.

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