Path Planning for Mobile Objects in Four-Dimension Based on Particle Swarm Optimization Method with Penalty Function

Yong Ma, M. Zamirian, Yadong Yang, Yanmin Xu and Jing Zhang

Mathematical Problems in Engineering, 2013, vol. 2013, 1-9

Abstract:

We present one algorithm based on particle swarm optimization (PSO) with penalty function to determine the conflict-free path for mobile objects in four-dimension (three spatial and one-time dimensions) with obstacles. The shortest path of the mobile object is set as goal function, which is constrained by conflict-free criterion, path smoothness, and velocity and acceleration requirements. This problem is formulated as a calculus of variation problem (CVP). With parametrization method, the CVP is converted to a time-varying nonlinear programming problem (TNLPP). Constraints of TNLPP are transformed to general TNLPP without any constraints through penalty functions. Then, by using a little calculations and applying the algorithm PSO, the solution of the CVP is consequently obtained. Approach efficiency is confirmed by numerical examples.

Date: 2013
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:613964

DOI: 10.1155/2013/613964

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