摘要
为求解机器人路径规划问题,引入人工蜂群算法,并将路径空间以网格划分,通过固定起始节点和设定最大允许路径节点数等方法,解决了人工蜂群算法应用于路径规划的两个难题——路径节点不固定和邻域构造困难,实现了将ABC算法应用于路径规划问题。通过典型的实例仿真对算法性能进行测试,结果表明:该算法有效克服了停滞行为的过早出现,而且能够加快收敛速度,得到全局最优解或近似解,是解决机器人路径规划问题的一种有效算法。
To solve the problem of robot path planning,ABC（Artificial Bees Colony） algorithm is adopted.But there are two difficulties for using it,path node is not fixed and neighborhood-building is difficult.This work overcomes them by fixing start-node and end-node and setting the maximum number of path planning nodes.The algorithm has been tested by a typical example.The results show that it has some advantages on handling these optimization problems such as avoiding pre-maturity and advancing constringency.It can find the global optimum and is an effective algorithm for solving path planning.
出处
《电焊机》
北大核心
2009年第4期93-96,共4页
Electric Welding Machine
基金
江苏省重点实验室开放基金资助项目(QC200502)
关键词
机器人
蜂群算法
路径规划
组合优化
robot
ABC algorithm
path planning
combinatorial optimization
