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| Received:October 11, 2006Revised:March 13, 2007 |
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| Self-adapting control parameters modified differential evolution for trajectory planning of manipulators |
| Lianghong WU, YaonanWANG, Shaowu ZHOU |
| (College of Information and Electric engineering, Hunan University of Science and Technology, Xiangtan Hunan 411201, China; College of Electric and Information Engineering, Hunan University, Changsha Hunan 410082, China) |
| Abstract: |
| 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 strategy is proposed. Therefore, good target vectors have a lower while worse target vectors have a large . 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. |
| Key words: Self-adapting control parameters Differential evolution Redundant manipulator Trajectory planning |
