摘要
由于用PSO进行机器人路径规划的研究尚局限于用连续模型规划连续描述的环境中的路径,使算法受到一定的局限性.为此,研究了一种全新的基于栅格法的机器人路径规划二进制粒子群算法.首先用栅格法描述机器人工作环境,在此基础上,将机器人路径表示为粒子位置的二进制编码,并以路径长度为适应值,产生初始种群后,再对粒子位置和速度进行更新,经过多次迭代,即可获得从起始点到目标点的一条全局最优路径.该方法模型简单,算法复杂度低,收敛速度快,计算机仿真实验证明了该方法的有效性和先进性.
At present, the study of the robot path planning with Particle Swami Optimization （PSO） is still confined to use the continuous model to plan the path with continuous method, so the algorithm has certain limitations. Then a discrete binary version of the PSO for path planning of robot based on grid method is proposed. The first step of the algorithm is to make the work environment of robot with grid method, based on which robot route is expressed as binary code of the particle location, and the length of the path is taken as the fitness value, and after the initial population is generated, the location and velocity of particles are updated. Then the discrete binary version of the PSO is introduced to obtainde a optimized path between starting-point and goal-point through many iterations. This algorithm is simple in model, low in algorithm complexity, and rapid in convergence. The simulation results are provided to verify effectiveness and practicability of the method.
出处
《南京师范大学学报（工程技术版）》
CAS
2009年第2期72-78,共7页
Journal of Nanjing Normal University(Engineering and Technology Edition)
基金
国家自然科学基金(60673102)
江苏省自然科学基金(BK2006218)资助项目
