Adaptive Gaussian parameter particle swarm optimization and its implementation in mobile robot path planning

Novendra Setyawan, Rusdhianto Effendi Abdul Kadir, Ahmad Jazidie

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Citations (Scopus)

Abstract

Path planning based on heuristic optimization method is developed to simplify the path planning issues into optimization problems. Particle Swarm Optimization (PSO) is one of the heuristic optimization methods often used because of its simplicity, easy to implement and has few parameters to set. However, the basic PSO algorithm has difficulties balancing exploration and exploitation, and suffer from premature convergence, it efficiency to solve path planning problem may be restricted. Aiming to overcome these drawbacks and solving the path planning problem efficiently, this paper proposed the Gaussian parameter updating rule use to speed up the convergence by maintaining exploration and exploitation of the particle. Then, particle re-initialization is proposed after analyzing the behavior of PSO algorithm to prevent premature convergence. Simulation result shows in benchmark test with Adaptive Inertia (AIW) PSO and standard PSO that the proposed PSO algorithm can find optimal solution faster than the other algorithm which can convergence in less than 150 iterations. Furthermore, particle re-initialization can find optimal solution efficiently which result in 3% more shortest, 10% more smooth and guaranteed to collision free path.

Original languageEnglish
Title of host publication2017 International Seminar on Intelligent Technology and Its Application
Subtitle of host publicationStrengthening the Link Between University Research and Industry to Support ASEAN Energy Sector, ISITIA 2017 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages238-243
Number of pages6
ISBN (Electronic)9781538627068
DOIs
Publication statusPublished - 28 Nov 2017
Event18th International Seminar on Intelligent Technology and Its Application, ISITIA 2017 - Surabaya, Indonesia
Duration: 28 Aug 201729 Aug 2017

Publication series

Name2017 International Seminar on Intelligent Technology and Its Application: Strengthening the Link Between University Research and Industry to Support ASEAN Energy Sector, ISITIA 2017 - Proceeding
Volume2017-January

Conference

Conference18th International Seminar on Intelligent Technology and Its Application, ISITIA 2017
Country/TerritoryIndonesia
CitySurabaya
Period28/08/1729/08/17

Keywords

  • Mobile robot
  • Multi-objective optimization
  • Particle swarm optimization
  • Path planning

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