Self-adapting control parameters modified differential evolution for trajectory planning of manipulators

被引：36

作者：

Wu L. ^{[1
,2
]}

Wang Y. ^{[2
]}

Zhou S. ^{[1
]}

Yuan X.

机构：

[1] College of Information and Electric Engineering, Hunan University of Science and Technology, Xiangtan

[2] College of Electric and Information Engineering, Hunan University, Changsha

来源：

Journal of Control Theory and Applications | 2007年 / 5卷 / 4期

基金：

中国国家自然科学基金;

关键词：

Differential evolution; Redundant manipulator; Self-adapting control parameters; Trajectory planning;

D O I：

10.1007/s11768-006-6178-9

中图分类号：

学科分类号：

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 optimization 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 CR while worse target vectors have a large CR. 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. © 2007 Editorial Board of Control Theory & Applications.

引用

页码：365 / 373

页数：8

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