摘要
针对移动机器人路径规划问题,提出一种新的定长实数路径编码机制。首先进行环境地图建模,通过坐标变换在路径的起点和终点之间建立新地图,然后用定长的实数编码机制使得机器人在不断靠近目标点的趋势上,寻找一条最优的路径。为了进一步提高效率,根据障碍物的位置规划出机器人的"有效区域",缩小搜索空间。采用免疫进化与模拟退火相结合的免疫模拟退火算法求解最优路径。仿真实验表明,该算法具有较强的全局和局部搜索能力,能够使得机器人快速地找到一条较优的路径。
Aimed at the path planning problem of a mobile robot,a novel fixed-length real number encoding mechanism was proposed.The first step was to make a new map between starting-point and goal-point through coordinate system transferring.Then the encoding mechanism was introduced to search for an optimized path in which the robot gets close to the target.Then a valid region for the robot was mapped out according to the location of obstacles,which could reduce the search space and further improve the efficiency.An immune simulated annealing algorithm by combining an immune optimization algorithm with simulated annealing algorithm was developed.The simulation result demonstrated that the proposed algorithm had strong global and local search ability,which could help the robot to quickly find the optimized path.
出处
《山东大学学报（工学版）》
CAS
北大核心
2012年第1期59-65,共7页
Journal of Shandong University（Engineering Science）
基金
福建省省属高校科研专项重点资助项目(JK2009006)
福建省高校服务海西建设重点项目
关键词
移动机器人
路径规划
有效区域
定长实数编码
mobile robot
path planning
valid region
fixed-length real number encoding
作者简介
严宣辉（1968-），男，福建福州人，副教授，硕士，主要研究方向为人工智能，网络安全．E-mail：yah@fjnu．edu．cn
通讯作者：肖国宝（1987-），男，福建泉州人，硕士研究生，主要研究方向为人工智能．E-mail：x-gb@163．com
