کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
385947 | 660876 | 2011 | 15 صفحه PDF | دانلود رایگان |

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.
Research highlights
► Study of simulated annealing parameters.
► Simulated annealing increases the number of accepted candidates without using derivatives.
► Trajectory representation.
► Study of trajectory parameters.
Journal: Expert Systems with Applications - Volume 38, Issue 4, April 2011, Pages 2951–2965