摘要
针对移动机器人路径规划问题,提出一种改进的五行环算法。在五行环模型的基础上,创新性地使用粒子群优化(PSO)算法的更新机制来对各元素进行更新,为了避免陷入局部最优解和快速趋同问题,设计了突变元子和散开元子。最后,对路径中的连接点进行删除处理,大大提高了算法的寻优效率和稳定的性能。仿真结果表明:改进的五行环算法有效避开了沿途的障碍物,保证拐点数目最少的同时还缩短了路径长度,最终寻得最优规划路径。证明该算法具有收敛性能更稳、成功率更高、稳定性更好的优点。
Aiming at the problem of mobile robot path planning,an improved five-elements cycle algorithm is proposed.On the basis of the five-elements cycle model,the update mechanism of the particle swarm optimization(PSO)algorithm is innovatively used to update each element.In order to avoid falling into local optimal solutions and rapid convergence problems,mutation elements and dispersive elements are designed.Finally,the connection points in the path are deleted,which greatly improves the optimizing efficiency and stable performance of the algorithm.The simulation results show that the improved five-elements cycle algorithm effectively avoids obstacles along the way,guarantees the minimum number of inflection points and shortens the path length,and finally finds the optimal planning path.It is proved that the algorithm has the advantages of more stable convergence performance,higher success rate and better stability.
作者
黄敬尧
刘洪宇
武慧慧
王钦甜
HUANG Jingyao;LIU Hongyu;WU Huihui;WANG Qintian(College of Electrical Engineering and New Energy,China Three Gorges University,Yichang 443002,China)
出处
《传感器与微系统》
CSCD
北大核心
2023年第10期143-146,共4页
Transducer and Microsystem Technologies
关键词
机器人
避障
路径规划
改进的五行环算法
robots
obstacle avoidance
path planning
improved five-elements cycle algorithm
