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Genetic algorithm-based compliant robot path planning: an improved Bi-RRT-based initialization method

Du Lin (School of Information Science and Technology, Donghua University, Shanghai, China)
Bo Shen (School of Information Science and Technology, Donghua University, Shanghai, China)
Yurong Liu (Department of Mathematics, Yangzhou University, Yangzhou, China and Faculty of Engineering, King Abdulaziz University, Jeddah, Saudi Arabia)
Fuad E. Alsaadi (Faculty of Engineering, King Abdulaziz University, Jeddah, Saudi Arabia)
Ahmed Alsaedi (Department of Mathematics, King Abdulaziz University, Jeddah, Saudi Arabia)

Assembly Automation

ISSN: 0144-5154

Article publication date: 7 August 2017

376

Abstract

Purpose

The purpose of this paper is to improve the performance of the genetic algorithm-based compliant robot path planning (GACRPP) in complex dynamic environment by proposing an improved bidirectional rapidly exploring random tree (Bi-RRT)-based population initialization method.

Design/methodology/approach

To achieve GACRPP in complex dynamic environment with high performance, an improved Bi-RRT-based population initialization method is proposed. First, the grid model is adopted to preprocess the working space of mobile robot. Second, an improved Bi-RRT is proposed to create multi-cluster connections between the starting point and the goal point. Third, the backtracking method is used to generate the initial population based on the multi-cluster connections generated by the improved Bi-RRT. Subsequently, some comparative experiments are implemented where the performances of the improved Bi-RRT-based population initialization method are compared with other population initialization methods, and the comparison results of the improved genetic algorithm (IGA) combining with the different population initialization methods are shown. Finally, the optimal path is further smoothed with the help of the technique of quadratic B-spline curves.

Findings

It is shown in the experiment results that the improved Bi-RRT-based population initialization method is capable of deriving a more diversified initial population with less execution time and the IGA combining with the proposed population initialization method outperforms the one with other population initialization methods in terms of the length of optimal path and the execution time.

Originality/value

In this paper, the Bi-RRT is introduced as a population initialization method into the GACRPP problem. An improved Bi-RRT is proposed for the purpose of increasing the diversity of initial population. To characterize the diversity of initial population, a new notion of breadth is defined in terms of Hausdorff distance between different paths.

Keywords

Acknowledgements

This work was supported in part by the National Natural Science Foundation of China under Grant 61473076, the Program for Professor of Special Appointment (Eastern Scholar) at Shanghai Institutions of Higher Learning, and the Fundamental Research Funds for the Central Universities under Grant EG2017028.

Citation

Lin, D., Shen, B., Liu, Y., Alsaadi, F.E. and Alsaedi, A. (2017), "Genetic algorithm-based compliant robot path planning: an improved Bi-RRT-based initialization method", Assembly Automation, Vol. 37 No. 3, pp. 261-270. https://doi.org/10.1108/AA-12-2016-173

Publisher

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Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited

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