Integrated particle swarm optimization algorithm based obstacle avoidance control design for home service robot
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- 作者：Chih-Jui LinAuthor Vitae ; Tzuu-Hseng S. Li ; thsli@mail.ncku.edu.twAuthor Vitae ; Ping-Huan KuoAuthor Vitae ; Yin-Hao WangAuthor Vitae
- 关键词：Adaptive inertia weight ; Constriction factor ; Home service robot ; Manipulator ; Obstacle avoidance ; Particle swarm optimization
- 刊名：Computers & Electrical Engineering
- 出版年：2016
- 出版时间：November 2016
- 年：2016
- 卷：56
- 期：Complete
- 页码：748-762
- 全文大小：7324 K
- 卷排序：56
文摘
A new adaptive PSO method is proposed and verified by simulations and a real robot. Our proposed method has been successful applied to three-dimensional obstacle avoidance with manipulator for the home service robot. Both the free-space and obstacle avoidance states are established for evaluations in computer simulations and real-time experiments. Our PSO-IAC algorithm has achieved outstanding performance compared to other methods in these experiments.