TY - GEN
T1 - The application of an improved chaos-particle swarm optimization algorithm to the real submersible path-planning
AU - Yu, Fei
AU - Zou, Meikui
AU - Lv, Chongyang
PY - 2013
Y1 - 2013
N2 - Path planning is one of hot research topics of underwater vehicle, and the real submarine path planning needs a concise and short line. This paper presents a new improved chaos particle swarm algorithm (GCPSO), where the particle swarm algorithm (PSO) is changed by using nonlinear strategy to change the inertial weights and a variable learning factor. The numerical example shows that the improved GCPSO has better convergence and stronger optimization ability than standard particle swarm algorithm. On this basis, the algorithm is used in the simulation of underwater vehicle path planning. The path planning problem is transformed into the optimization problem of pursuing path points through the novel modeling with condition constraint to get a better path, and then an optimal line is obtained.
AB - Path planning is one of hot research topics of underwater vehicle, and the real submarine path planning needs a concise and short line. This paper presents a new improved chaos particle swarm algorithm (GCPSO), where the particle swarm algorithm (PSO) is changed by using nonlinear strategy to change the inertial weights and a variable learning factor. The numerical example shows that the improved GCPSO has better convergence and stronger optimization ability than standard particle swarm algorithm. On this basis, the algorithm is used in the simulation of underwater vehicle path planning. The path planning problem is transformed into the optimization problem of pursuing path points through the novel modeling with condition constraint to get a better path, and then an optimal line is obtained.
KW - Chaos optimization
KW - Chaos particle swarm optimization algorithm
KW - Path planning
KW - Submersible navigation
UR - https://www.scopus.com/pages/publications/84891865832
U2 - 10.1109/IHMSC.2013.223
DO - 10.1109/IHMSC.2013.223
M3 - 会议稿件
AN - SCOPUS:84891865832
SN - 9780769550114
T3 - Proceedings - 2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2013
SP - 316
EP - 319
BT - Proceedings - 2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2013
T2 - 2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2013
Y2 - 26 August 2013 through 27 August 2013
ER -