Simulated annealing with adaptive neighborhood: A case study in off-line robot path planning |
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| Authors: | R.S. Tavares T.C. Martins M.S.G. Tsuzuki |
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| Affiliation: | 1. Institute of Mechanics, Bulgarian Academy of Sciences, Acad. G. Bonchev St., Block 4, Sofia 1113, Bulgaria;2. Group of Solid Mechanics and Structural Impact, Department of Mechatronics and Mechanical Systems Engineering, University of Sao Paulo, Sao Paulo 05508-900, Brazil;1. Universidade Federal do ABC, Engineering, Modeling and Applied Social Sciences Center, Rua Arcturus, 3, São Bernardo do Campo, Brazil;2. Escola Politécnica da Universidade de São Paulo, Department of Mechatronics and Mechanical Systems Engineering, Computational Geometry Laboratory, Av. Prof. Mello Moraes, 2231 São Paulo - SP, Brazil |
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| Abstract: | Simulated annealing (SA) is an optimization technique that can process cost functions with degrees of nonlinearities, discontinuities and stochasticity. It can process arbitrary boundary conditions and constraints imposed on these cost functions. The SA technique is applied to the problem of robot path planning. Three situations are considered here: the path is represented as a polyline; as a Bézier curve; and as a spline interpolated curve. In the proposed SA algorithm, the sensitivity of each continuous parameter is evaluated at each iteration increasing the number of accepted solutions. The sensitivity of each parameter is associated to its probability distribution in the definition of the next candidate. |
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