An Improved PBIL Algorithm for Path Planning Problem of Mobile Robots

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• 作者：Qingbin Zhang ; Manjun Cai ; Fajun Zhou
• 关键词：Path planning problem ; MAKLINK graph ; Permutation code PBIL
• 刊名：Lecture Notes in Computer Science
• 出版年：2013
• 出版时间：2013
• 年：2013
• 卷：8206
• 期：1
• 页码：93-100
• 全文大小：334KB
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• 作者单位：Qingbin Zhang (24) (25)
  Manjun Cai (26)
  Fajun Zhou (24)
  Hairong Nie (24)
  
  24. Center of Green & Intelligent Engineering, Shijiazhuang Institute of Railway Technology, Shijiazhuang, 050061, China
  25. Key Laboratory of Advanced Design and Intelligent Computing, Dalian University, Ministry of Education, Dalian, 116622, China
  26. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China
  
• ISSN：1611-3349

文摘

The path planning problem of mobile robots is a NP-Hard problem often solved by evolutionary approaches such as Genetic Algorithm (GA) and Ant Colony Optimization (ACO). However, the algorithm’s performance is often influenced heavily by the determination of the operators and the choice of related parameters. In this paper, a permutation code PBIL is proposed to solve the path planning problem. First, a free space model of the mobile robot is constructed by the MAKLINK graph; second, a sub-optimal path is generated by the Dijkstra algorithm; then global optimal path is constructed by the permutation code PBIL based on the sub-optimal path. Simulation results show that the PBIL can get satisfied solutions more simply and efficiently with fewer operators and parameters.