A Path Smoothing Strategy Based on Harmony Search Algorithm for Probabilistic Foam
Resumo
Probabilistic Foam method (PFM) is an attractive path planner, ideal for applications in assistive robotics which demands safety. However, its planned paths are not smooth. Then, path smoothing strategies need to be applied for PFM to improve the paths. This paper presents an optimization approach based on Harmony Search algorithm to smooth PFM paths. Simulated experiments using an exoskeleton to overcome an obstacle were performed to test our methodology. Results show that our approach is capable of smoothing paths for the exoskeleton, which results in more anthropomorphic motions.
Referências
Geem, Z. W., Kim, J. H., and Loganathan, G. V. (2001). A new heuristic optimization algorithm: harmony search. simulation, 76(2):60–68.
Kavraki, L., Svestka, P., Latombe, J.-C., and Overmars, M. (1996). Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12(4):566–580.
Kim, Y.-H., Yoon, Y., and Geem, Z. W. (2019). A comparison study of harmony search and genetic algorithm for the max-cut problem. Swarm and evolutionary computation, 44:130–135.
Latombe, J.-C. (1991). Robot Motion Planning. Springer US, Boston, MA.
Lavalle, S. M. (1998). Rapidly-exploring random trees: A new tool for path planning. Technical report, Computer Science Dept., Iowa State University.
Melo, N. B., Dorea, C. E., Alsina, P. J., Araujo, M. V., and Gloger, M. (2017). Ortholeg 2.0-design of a transparent active orthosis. IEEE Latin America Transactions,15(10):1869–1874.
Nascimento, L. B. P., Silva Pereira, D., Sanca Sanca, A., Silva Eugenio, K. J., Silva Fernandes, D. H., Javier Alsina, P., Valério Araujo, M., and Rabello Silva, M. (2018). Safe path planning based on probabilistic foam for a lower limb active orthosis to overcoming an obstacle. In 2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics and 2018 Workshop on Robotics in Education, pages 413–419.
Piarehzadeh, H., Khanjanzadeh, A., and Pejmanfer, R. (2012). Comparison of harmony search algorithm and particle swarm optimization for distributed generation allocation
to improve steady state voltage stability of distribution networks. Research Journal of Applied Sciences, Engineering and Technology, 4(15):2310–2315.
Quinlan, S. (1995). Real-Time Modification of Collision-Free Paths. Doctoral Dissertation, Stanford University Stanford, CA.
Silveira, Y. S. and Alsina, P. J. (2016). A New Robot Path Planning Method Based on Probabilistic Foam. In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), pages 217–222.
Kavraki, L., Svestka, P., Latombe, J.-C., and Overmars, M. (1996). Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12(4):566–580.
Kim, Y.-H., Yoon, Y., and Geem, Z. W. (2019). A comparison study of harmony search and genetic algorithm for the max-cut problem. Swarm and evolutionary computation, 44:130–135.
Latombe, J.-C. (1991). Robot Motion Planning. Springer US, Boston, MA.
Lavalle, S. M. (1998). Rapidly-exploring random trees: A new tool for path planning. Technical report, Computer Science Dept., Iowa State University.
Melo, N. B., Dorea, C. E., Alsina, P. J., Araujo, M. V., and Gloger, M. (2017). Ortholeg 2.0-design of a transparent active orthosis. IEEE Latin America Transactions,15(10):1869–1874.
Nascimento, L. B. P., Silva Pereira, D., Sanca Sanca, A., Silva Eugenio, K. J., Silva Fernandes, D. H., Javier Alsina, P., Valério Araujo, M., and Rabello Silva, M. (2018). Safe path planning based on probabilistic foam for a lower limb active orthosis to overcoming an obstacle. In 2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics and 2018 Workshop on Robotics in Education, pages 413–419.
Piarehzadeh, H., Khanjanzadeh, A., and Pejmanfer, R. (2012). Comparison of harmony search algorithm and particle swarm optimization for distributed generation allocation
to improve steady state voltage stability of distribution networks. Research Journal of Applied Sciences, Engineering and Technology, 4(15):2310–2315.
Quinlan, S. (1995). Real-Time Modification of Collision-Free Paths. Doctoral Dissertation, Stanford University Stanford, CA.
Silveira, Y. S. and Alsina, P. J. (2016). A New Robot Path Planning Method Based on Probabilistic Foam. In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), pages 217–222.
Publicado
26/12/2019
Como Citar
NASCIMENTO, Luı́s B. P.; SANTOS, Vitor G.; PEREIRA, Diego S.; ALSINA, Pablo J..
A Path Smoothing Strategy Based on Harmony Search Algorithm for Probabilistic Foam. In: ESCOLA REGIONAL DE COMPUTAÇÃO APLICADA À SAÚDE (ERCAS), 7. , 2019, Teresina.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2019
.
p. 211-216.
