期刊文献+

Self-adapting control parameters modifieddifferential evolution for trajectoryplanning of manipulators 被引量:12

Self-adapting control parameters modified differential evolution for trajectory planning of manipulators
下载PDF
导出
摘要 Control parameters of original differential evolution (DE) are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinization problems. According to the relative position of two different individual vectors selected to generate a difference vector in the searching place, a self-adapting strategy for the scale factor F of the difference vector is proposed. In terms of the convergence status of the target vector in the current population, a self-adapting crossover probability constant CR strategy is proposed. Therefore, good target vectors have a lower CFI while worse target vectors have a large CFI. At the same time, the mutation operator is modified to improve the convergence speed. The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator. Finally, the experiment results show that the proposed approaches can greatly improve robustness and convergence speed. Control parameters of original differential evolution (DE) are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinization problems. According to the relative position of two different individual vectors selected to generate a difference vector in the searching place, a self-adapting strategy for the scale factor F of the difference vector is proposed. In terms of the convergence status of the target vector in the current population, a self-adapting crossover probability constant CR strategy is proposed. Therefore, good target vectors have a lower CFI while worse target vectors have a large CFI. At the same time, the mutation operator is modified to improve the convergence speed. The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator. Finally, the experiment results show that the proposed approaches can greatly improve robustness and convergence speed.
出处 《控制理论与应用(英文版)》 EI 2007年第4期365-373,共9页
基金 This work was supported by the National Natural Science Foundation of China(No.60375001) the High School Doctoral Foundation of China(NO.20030532004).
关键词 Self-adapting control parameters Differential evolution Redundant manipulator Trajectory planning Self-adapting control parameters Differential evolution Redundant manipulator Trajectory planning
  • 相关文献

参考文献4

二级参考文献30

  • 1一种基于模糊神经网络的双足机器人混杂控制[J].控制理论与应用,2001,18(z1):103-105. 被引量:2
  • 2理查德.摩雷 李泽湘 等.机器人操作的数学导论[M].北京:机械工业出版社,1998..
  • 3[1]Koziel S, Michalewicz Z. Evolutionary algorithms, homomorphous mappings and constrained parameter optimization[J]. Evolutionary Computation, 1999, 7 (1): 19-44.
  • 4[2]Whitley D. An overview of evolutionary algorithms: Practical issues and common pitfalls[J]. Information and Software Technology, 2001, 43(14): 817-831.
  • 5[3]Fogel L J, Owens A J, Walsh M J. Artificial Intelligence Through Simulated Evolution[M]. Chichester: John Wiley, 1996.
  • 6[4]Rechenberg I. Evolutionsstrategie: Optimierung Technischer Systems nach Prinzipien der Biologischen Evolution[M]. Stuttgart: Frommann-Holzboog Verlag, 1973.
  • 7[5]Holland J H. Adaptation in Natural and Artificial Systems[M].Ann Arbor:University of Michigan Press, 1975.
  • 8[6]De Jong K A. The analysis of the behavior of a class of genetic adaptive systems[D]. Ann Arbor: University of Michigan, 1975.
  • 9[7]Storn R. Differential evolution design of an IIR-filter [A]. IEEE Int Conf on Evolutionary Computation[C]. Nagoya,1996. 268-273.
  • 10[8]Storn R, Price K. Differential evolution - A simple and efficient heuristic for global optimization over continuous spaces[J]. J of Global Optimization, 1997, 11(4): 341-359.

共引文献157

同被引文献63

引证文献12

二级引证文献89

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部