In this study, a gravitational search algorithm has been proposed to design the optimal route of mobile robot in certain and known environments or relatively unknown environments (static or dynamic). Reviews in this paper, indicates proper operation of the algorithm in More
In this study, a gravitational search algorithm has been proposed to design the optimal route of mobile robot in certain and known environments or relatively unknown environments (static or dynamic). Reviews in this paper, indicates proper operation of the algorithm in terms of convenience and simplicity in running processes time consuming offline and online. Also, as well as the results of the review period and the path to achieve the optimal route in dynamic environments and static is Representative and shower the strength of the evolutionary algorithm than other evolutionary algorithms in the field. Finally, the experimental results are indicated a superior performance gravitational search algorithm than other evolutionary algorithms available (algorithms, particle swarm) which discussed in this research. This topic has had a significant impact on the design direction of the static and dynamic, especially in the environment Dynamic.
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Path planning of mobile robots is one of the important issues in the field of robotics. Also, optimizing the path length and crossing the local minima traps are the basic and up-to-date challenges in this field. One of the important methods in path planning of these rob More
Path planning of mobile robots is one of the important issues in the field of robotics. Also, optimizing the path length and crossing the local minima traps are the basic and up-to-date challenges in this field. One of the important methods in path planning of these robots is the artificial potential field method. Because it is based on simple mathematical calculations. One of the most important disadvantages of this method is getting trapped in local minima situations. One approach for solving the problem of local minima is to use optimization methods to find suitable coefficients (attractive and repulsive) and step length that can solve local minima and optimize the path length. The Harris Hawks algorithm is a powerful and new meta-heuristic algorithm in the field of optimization that is based on population and inspired by the life of Harris Hawks in nature. This algorithm has been able to prove its superiority over similar optimization methods in finding the optimal solution, faster convergence, lower computational time and not trapping in local minima. This method has not been used in the path planning of mobile robots. In order to eliminate the disadvantages of the artificial potential field method and to optimize the path length, the Harris Hawks algorithm has been used in this paper. The simulation results showed that the combination of the artificial potential field method and the Harris Hawks algorithm can solve the local minima problem and optimize the path length, increase the path efficiency and reduce the convergence time.
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Numerous methods have been developed to solve the path planning problem, among which the visibility graph, Voronoi diagram, Quad-Tree and Wave-Front are well-known techniques. In this paper, a new global path planning algorithm named HYBRID-Visibility-QuadTree-Voronoi-W More
Numerous methods have been developed to solve the path planning problem, among which the visibility graph, Voronoi diagram, Quad-Tree and Wave-Front are well-known techniques. In this paper, a new global path planning algorithm named HYBRID-Visibility-QuadTree-Voronoi-WaveFront method (HYBRID-VQVW) is presented where these four methods are integrated in a single architecture. After constructing these global trajectories of C-space, the best trajectory among four is selected in every sampling distance by several criterions. These criterions consist of length, smoothness and safety of the trajectory. In fact, the algorithm provides a parametric tradeoff between shortest, safest and smoothest paths and generally yields shorter and smoother paths than the Voronoi, Quad-Tree and Wave-Front methods, and safer than the visibility graph.
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هدف اصلی در این مقاله استفاده از روش بهینهسازی عددی الگوریتم ژنتیک در طراحی مسیر سروُمکانیزم هیدرولیکی است. در این مقاله ابتدا پارامترهای هندسی یک مکانیزم سه درجه آزادی صفحهای با سه جک هیدرولیکی تعریف و شناسایی شدهاند. سپس معادلات حرکت آن مورد بررسی قرار گرفتهاند و More
هدف اصلی در این مقاله استفاده از روش بهینهسازی عددی الگوریتم ژنتیک در طراحی مسیر سروُمکانیزم هیدرولیکی است. در این مقاله ابتدا پارامترهای هندسی یک مکانیزم سه درجه آزادی صفحهای با سه جک هیدرولیکی تعریف و شناسایی شدهاند. سپس معادلات حرکت آن مورد بررسی قرار گرفتهاند و سیستم جکهای محرک هیدرولیکی که توسط شیرهای کنترلی کار میکند به مدل افزوده شده است. در ادامه با توجه به منطق الگوریتم ژنتیک، بر اساس معیار کمینه کردن مصرف انرژی هیدرولیکی، مسیرهای مختلف حرکتی برای حرکت بین دو نقطه نمونه تحلیل شده و مسیر بهینه بهدست آمده است.
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