how can i use particle swarm optimisation algorithm for to find optimal path interms of shortest distance between start and goal point to be followed by mobile robot?

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LAKSHMANAN ADAIKKAPPAN 2016-1-8

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评论： Walter Roberson 2018-2-17

I have shown my working environment in the image. In this image, the circular object considered as a obstacle. The white line considered as path for mobile robot. The mobile robot is move with interpolate the nodes (shown as red small circle). In this image, totally 14 nodes (co-ordinate points) are there. Among that i consider a start and goal point and it has various path between start and goal point. How can i find optimal path without hitting obstacle using particle swarm optimisation. The co-ordinate points of nodes (interms of pixels) are (135,137),(295,137),(510,146),(678,152),(139,287),(211,323),(298,237),(403,278),(509,233),(678,298),(591,336),(579,396),(402,402).

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Walter Roberson 2016-1-8

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This is a Shortest Path or Traveling Salesman problem.

http://stackoverflow.com/questions/19755397/shortest-path-using-particle-swarm-optimisation

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LAKSHMANAN ADAIKKAPPAN 2016-1-11

Is the same problem possible to solve using ant colony algorithm or other evolutionary algorithm?

Walter Roberson 2016-4-7

在 MATLAB Online 中打开

For the alternative approaches, see http://www.mathworks.com/matlabcentral/fileexchange/?term=tag%3A%22tsp%22

At the TSP level, you do not need to worry about constraints about traveling through a point. If there is an obstacle between two points, do not connect them in the adjacency matrix.

NN = 14;
edges = [1 2
         1 5
         2 3
         2 7
         3 4
         3 9
         4 11
         5 6
         6 7
         6 12
         7 8
         8 9
         8 13
         9 10
         10 11
         10 14
         12 13
         13 14];
  adj = zeros(NN, NN);
  adj( (edges(:,2) - 1) * NN + edges(:,1) ) = 1;
  adj( (edges(:,1) - 1) * NN + edges(:,2) ) = 1;

Now adj is your adjacency matrix. For TSP purposes you will probably want to use a distance matrix.

Possibly when you said "in this matlab code, there is no constraints for traveling through a points" perhaps you were referring to the link I posted about constrained PSO. That was only for the case where you were starting without the white paths. Myself, I would not use PSO for that at all, as there are deterministic solutions.

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