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    A modified membrane-inspired algorithm based on particle swarm optimization for mobile robot path planning

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    Publication date
    2015-10
    Author
    Wang, X.
    Zhang, G.
    Zhao, J.
    Rong, H.
    Ipate, F.
    Lefticaru, Raluca
    Keyword
    Membrane computing
    Evolutionary membrane computing
    Particle swarm optimization
    Variable dimensions
    Mobile robot path planning
    Membrane systems
    Rights
    (c) 2015 The Authors. This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License. https://creativecommons.org/licenses/by-nc/4.0/
    Peer-Reviewed
    Yes
    
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    Abstract
    To solve the multi-objective mobile robot path planning in a dangerous environment with dynamic obstacles, this paper proposes a modified membraneinspired algorithm based on particle swarm optimization (mMPSO), which combines membrane systems with particle swarm optimization. In mMPSO, a dynamic double one-level membrane structure is introduced to arrange the particles with various dimensions and perform the communications between particles in different membranes; a point repair algorithm is presented to change an infeasible path into a feasible path; a smoothness algorithm is proposed to remove the redundant information of a feasible path; inspired by the idea of tightening the fishing line, a moving direction adjustment for each node of a path is introduced to enhance the algorithm performance. Extensive experiments conducted in different environments with three kinds of grid models and five kinds of obstacles show the effectiveness and practicality of mMPSO.
    URI
    http://hdl.handle.net/10454/17606
    Version
    Published version
    Citation
    Wang X, Zhang G, Zhao J et al (2015) A modified membrane-inspired algorithm based on particle swarm optimization for mobile robot path planning. International Journal of Computers Communications & Control. 10(5): 723-745.
    Link to publisher’s version
    https://doi.org/10.15837/ijccc.2015.5.2030
    Type
    Article
    Collections
    Engineering and Informatics Publications

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