Solving the multi-objective path planning problem in mobile robotics with a firefly-based approach

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• 作者：Alejandro Hidalgo-Paniagua ; Miguel A. Vega-Rodríguez ; Joaquín Ferruz…
• 关键词：Path planning ; MO ; FA ; Swarm intelligence ; Robotics ; Realistic maps ; Energy consumption
• 刊名：Soft Computing
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：21
• 期：4
• 页码：949-964
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Computational Intelligence; Artificial Intelligence (incl. Robotics); Mathematical Logic and Foundations; Control, Robotics, Mechatronics;
• 出版者：Springer Berlin Heidelberg
• ISSN：1433-7479
• 卷排序：21

文摘

Currently, autonomous robotics is one of the most interesting and researched areas of technology. At the beginning, robots only worked in the industrial sector but, gradually, they started to be introduced into other sectors such as medicine or social environments becoming part of society. In mobile robots, the path planning (PP) problem is one of the most researched topics. Taking into account that the PP problem is an NP-hard problem, multi-objective evolutionary algorithms (MOEAs) are good candidates to solve this problem. In this work, a new multi-objective approach based on the flashing behavior of fireflies in nature, the multi-objective firefly algorithm (MO-FA), is proposed to solve the PP problem. This proposed algorithm is a swarm intelligence algorithm. The proposed MO-FA handles three different objectives to obtain accurate and efficient solutions. These objectives are the following: the path safety, the path length, and the path smoothness (related to the energy consumption). Furthermore, and to test the proposed MOEA, we have used eight realistic scenarios for the path’s calculation. On the other hand, we also compare our proposal with other approaches of the state of the art, showing the advantages of MO-FA. In particular, to evaluate the obtained results we applied specific quality metrics. Moreover, to demonstrate the statistical evidence of the obtained results, we also performed a statistical analysis. Finally, the study shows that the proposed MO-FA is a good alternative to solve the PP problem.