Application of Improved BQGA in Robot Kinematics Inverse Solution

• Main Authors: Xiaoqing Lv, Ming Zhao
• Format: Article
• Language: English
• Published: Hindawi Limited 2019-01-01
• Series: Journal of Robotics
• Online Access: http://dx.doi.org/10.1155/2019/1659180

In view of the problem that Bloch Quantum Genetic Algorithm (BQGA) is easy to fall into local optimum, an improved BQGA is proposed. The algorithm can control the step size and the mutation probability in real time in the iterative process, avoiding over the optimal solution and guaranteeing search efficiency. In addition, the improved algorithm further completes the anti-degradation mechanism, which maintains the diversity of the population while preserving the dominant gene to the maximum extent, so that the algorithm is not easy to fall into the local extremum and finally approaches the global optimal solution. The application in the inverse solution of robot kinematics shows that the improved BQGA effectively avoids the premature problem and accelerates the convergence of understanding and the search result is close to the complete solution, which provides a new idea for solving complex nonlinear and multivariate functional equations.