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Solving robot path planning problem by using a new elitist multi-objective IWD algorithm based on coefficient of variation

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Abstract

In this paper, we want to solve multi-objective robot path planning problem. A new elitist multi-objective approach is proposed to determine Pareto front based on coefficient of variation. Intelligent water drops (IWD) algorithm is generalized by this approach and as a new multi-objective IWD algorithm. We call our new algorithm CV-based MO-IWD. It tried to optimize two objectives: length and safety of the path. In the CV-based MO-IWD, we want to discover solutions as close to optimal Pareto solutions as possible and find solutions as diverse as possible in the obtained Pareto front. In this way, coefficient of variation of Pareto front is determined in each objective. Then, appropriate number of heuristic operations (local search in this paper) is calculated and applied for each solution. Implementation results and comparisons with NSGA_II algorithm show the ability of the proposed approach to achieve a near optimal Pareto front with a good diversity, while the number of fitness function calls does not increase. This method is superior because of suitable distribution of heuristic operations.

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Authors and Affiliations

  1. Department of Computer Science, Tabari University, Babol, Iran

    Soheila Salmanpour & Hesam Omranpour

  2. Department of Computer Engineering, Sharif University of Technology, Tehran, Iran

    Hesamoddin Monfared

Authors
  1. Soheila Salmanpour
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  2. Hesamoddin Monfared
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  3. Hesam Omranpour
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Correspondence to Soheila Salmanpour.

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This manuscript is completed as an autonomous research and does not use any facility of any organization. It does not have any actual or potential conflict of interest including any financial, personal or other relationships with other people or organization. The researchers who involved in this research are from Tabari university and Sharif university of technology of Iran.

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Communicated by V. Loia.

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Salmanpour, S., Monfared, H. & Omranpour, H. Solving robot path planning problem by using a new elitist multi-objective IWD algorithm based on coefficient of variation. Soft Comput 21, 3063–3079 (2017). https://doi.org/10.1007/s00500-015-1991-z

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