摘要
为准确获得全局静态环境位置移动机器人的三维路径规划,提出了将二维栅格法建模拓扑到三维的建模方法和BSO算法的移动机器人路径规划算法。结合天牛觅食和鸟群觅食的行为特征,将粒子群算法中的粒子用天牛来代替,通过天牛对气味浓度的判断更新天牛的位置,实现天牛个体代替粒子群算法的粒子寻优。结果表明:BSO算法在三维路径规划中的路径长度、耗时仅为蚁群算法的89.59%和40.60%,具有良好的搜索能力。该算法为移动机器人在三维环境下规划路径提供一种有效的选择。
This paper proposes a method of modeling topology from 2D grid method to 3D and a BSO algorithm for path planning of mobile robot in order to accurately obtain the 3D path planning of mobile robot in the global static environment.The algorithm works by combining the behavior characteristics of beetle’s foraging and bird swarm’s foraging;replacing the particles in particle swarm optimization with beetles;updating the position of beetle by the judgment of odor concentration and thereby achieving the optimization of individual beetle instead of individual particle swarm.Simulations show that the path length and time consumption of BSO algorithm in three-dimensional path planning are only 89.59%and 40.60%of ACO,and this gives the algorithm a better search performance,hence an effective choice for mobile robot to plan the path in a specific environment.
作者
沈显庆
孙启智
Shen Xianqing;Sun Qizhi(School of Electrical&Control Engineering,Heilongjiang University of Science&Technology,Harbin 150022,China)
出处
《黑龙江科技大学学报》
CAS
2019年第6期747-751,共5页
Journal of Heilongjiang University of Science And Technology
作者简介
第一作者简介:沈显庆(1969-),男,吉林省通化人,教授,博士,研究方向:先进伺服系统与智能控制,E-mail:shenxianqing20012@163.com。
