[1]TANG Xiao-yong,YU Fei,PAN Hong-yue.Submersible path-planning based on an improved PSO[J].CAAI Transactions on Intelligent Systems,2010,5(5):443-448.[doi:10.3969/j.issn.1673-4785.2010.05.011]
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Submersible path-planning based on an improved PSO
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
5
Number of periods:
2010 5
Page number:
443-448
Column:
学术论文—智能系统
Public date:
2010-10-25
- Title:
- Submersible path-planning based on an improved PSO
- CLC:
- TP242.6
- DOI:
- 10.3969/j.issn.1673-4785.2010.05.011
- Abstract:
- To overcome the shortcomings in slow convergence speed and long iteration time in the existing algorithms, take advantage of the searching ability of a particle swarm optimization (PSO), a new navigation algorithm was created based on PSO. First, the theory of swarm intelligence was used to improve the basic PSO algorithm: proposing a transformable inertia weight which contains a mutation factor to improve the PSO, and thereby enhancing the local and global optimum capability of PSO. Through experimental simulation and validation, the better performance of the improved PSO (IPSO) was proven. On this basis, the IPSO was used in path planning of an underwater vehicle. By using modeling analysis of space and adding constraint conditions, the path planning problem was converted into an optimization problem concerning solutions of path points. Finally, through experimental simulation, a collisionfree path from start to finish was given, proving the validity and feasibility of this method.
- References:
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Last Update:
2010-11-26