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Erschienen in:
2019 | OriginalPaper | Buchkapitel
A Multi-objective Ions Motion Optimization for Robot Path Planning
verfasst von : Jeng-Shyang Pan, Trong-The Nguyen, Shu-Chuan Chu, Thi-Kien Dao, Truong-Giang Ngo
Erschienen in: Advances in Engineering Research and Application
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Abstract
This paper proposes a novel multi-objective approach for optimal robot path planning based on Ion Motion Optimization (IMO). Two criteria are the distance to the target and smooth path that considered to optimize for the robot path planning issue. Location targets and obstacles are used to model mathematically the fitness function. Robots update information during the move because of partially unknown environment due to the limited sensors in detecting range. Simulations of the robot reached to target are implemented in different scenario environments for the optimal path. The results compared with the other methods in the literature shows that the proposed approach can provide the robot achieve to its target with collision-free obstacles, and be a competitive approach for optimal robot planning.