摘要
为了优化机器人的规划效率和能耗问题,提出一种改进IWOA-APF(改进鲸鱼-人工势场法)机器人路径规划。首先,建立机器人能耗模型,对人工势场法常见弊端进行分析,设置横向扰动力和转角限制系数引导机器人逃离死点且圆滑路径,对C型障碍填充,避免无效路径;其次,利用混沌映射、bezier型收敛因子、自调节权重因子改进鲸鱼算法,利用IWOA优化势场引力和斥力系数;最后,通过三类测试函数检验对比IWOA的性能,通过仿真实验检验IWOA-APF效果。结果表明,该方法生成的路径比原算法的总转角更少,路径更为圆滑,同时规划耗时更少。
In order to solve the robot planning efficiency and energy consumption problems,an improved IWOA-APF robot path planning is proposed.Firstly,we establish the robot energy consumption model,analyze the common drawbacks of the artificial potential field method,set the lateral disturbance force and corner restriction factor to guide the robot to escape the dead point and round the path,and fill the C-type obstacles to avoid the invalid path.Then the whale algorithm is improved by using chaotic mapping,bezier-type convergence factor,and self-adjusting weight factor,and the potential field gravitational and repulsive coefficients are optimized by using IWOA.Finally,the performance of the IWOA is examined by three types of test functions to compare IWOA,and the IWOA-APF effect is examined by simulation experiments.The results show that the method generates paths with fewer total turns and more rounded paths than the original algorithm,while the planning takes less time.
作者
张品
李长勇
ZHANG Pin;LI Chang-yong(School of Mechanical Engineering,Xinjiang University,Urumqi 830017,China)
出处
《组合机床与自动化加工技术》
北大核心
2022年第11期11-14,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
新疆维吾尔自治区自然科学基金(2021D01C052)。
关键词
移动机器人
路径规划
人工势场
鲸鱼算法
mobile robot
path planning
artificial potential field
whale algorithm
