Title :
Path planning based on firefly algorithm and Bezier curve
Author :
Baolei Li ; Lanjuan Liu ; Qinhu Zhang ; Danjv Lv ; Yufeng Zhang ; Junhua Zhang ; Xinling Shi
Author_Institution :
Sch. of Inf. Sci. & Eng., Univ. of Yunnan, Kunming, China
Abstract :
A novel planning algorithm based on firefly algorithm (FA) and Bezier curve is presented to locate the shortest feasible (collision-free) path, in this paper. FA is employed to locate the optimal control points of Bezier curve describing the shortest feasible path. Experiments based on benchmark maps from literatures are carried out to compare with other popular heuristic algorithm. Results show that our presented method is superior in success rate.
Keywords :
collision avoidance; curve fitting; evolutionary computation; optimal control; Bezier curve; FA; collision-free path; firefly algorithm; heuristic algorithm; optimal control points; path planning algorithm; shortest feasible path; Genetic algorithms; Heuristic algorithms; Optimal control; Optimization; Particle swarm optimization; Path planning; Planning; Bezier curve; firefly algorithm; path planning;
Conference_Titel :
Information and Automation (ICIA), 2014 IEEE International Conference on
Conference_Location :
Hailar
DOI :
10.1109/ICInfA.2014.6932730
