EVALUACIÓN DE ALGORITMOS DE OPTIMIZACIÓN METAHEURÍSTICA APLICADOS A ROBÓTICA (EVALUATION OF METAHEURISTIC OPTIMIZATION ALGORITHMS APPLIED TO ROBOTICS)
Resumen
El desarrollo de los Vehículos Autónomos Terrestres es un tema ampliamente discutido por parte de la comunidad científica internacional. La planificación del camino a seguir por el robot constituye un elemento importante para lograr un cumplimiento satisfactorio de misiones en las que no se necesite la intervención humana sobre el vehículo. Para la generación de la ruta, se propone en este trabajo la utilización de varios métodos de optimización metaheurísticos: algoritmos genéticos, búsqueda armónica y optimización por colonia de hormigas; como una manera de lograr caminos cortos y sin colisiones para el desplazamiento del robot. Una descripción de la implementación de los métodos es presentada y una comparación con vistas a su desempeño es proporcionada. Los resultados teóricos son apoyados mediante experimentos simulados, que prueban las situaciones en las que es preferible la utilización de cada algoritmo metaheurístico y los beneficios que aportan a la convergencia a la solución o ruta deseada.
Palabras clave: algoritmos genéticos, búsqueda armónica, colonia de hormigas, metaheurística, optimización, robótica.
Abstract
The development of Autonomous Ground Vehicles is a topic widely discussed by the international scientific community. The planning of the route for the robot is an important element to achieve a satisfactory fulfillment of missions in which human intervention on the vehicle is not required. For the generation of the route, the use of several metaheuristic optimization methods is proposed in this work: genetic algorithms, harmony search and ant colony optimization; as a way to achieve short, collision-free paths for the robot to travel. A description of the implementation of the methods is presented and a comparison regarding their performance is provided. Theoretical results are supported by simulated experiments, which expose the situations in which the use of each metaheuristic algorithm is preferable and the benefits they bring to convergence to the desired solution or route.
Keywords: genetic algorithms, harmony search, ant colony, metaheuristics, optimization, robotics.
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