摘要
研究机器人路径规划优化问题,机器人工作环境复杂,运动路径上存在许多障碍物。针对提高机器人安全导航性能问题,传统群智能算法存在早熟、搜索效率低等难题,难以获得全局最优路径。为了获得最优机器人运动路径,避免碰撞的发生,提出了一种人工蜂群算法的机器人路径规划方法。首先采用栅格法对机器人工作环境进行建模,然后机器人路径规划目标点作为蜜源,最后蜂群之间信息交换、协作搜索最优机器人运动路径。结果表明,人工蜂群算法解决了传统群智能算法存在的难题,加快了机器人路径规划求解速度,以较短时间找到最短机器人运动路径。
Study about optimization problem of path planning of mobile robot. There are many obstacles in the robot work environment, the traditional swarm intelligence algorithm has the defects of premature convergence, low searching efficiency, and it is difficult to obtain the global optimal path. In order to obtain the optimal robot path to avoid the collision, this paper put forward a path planning of mobile robot based on artificial bee colony algorithm. Firstly, the grid method was used to model the robot working environment, and then the robot path planning target point was taken as a nectar source, lastly, the optimal robot path was obtained by the information change and colony cooperative. The results show that the proposed algorithm speeds up the robot path planning and finds the shortest robot path planning quickly.
出处
《计算机仿真》
CSCD
北大核心
2012年第12期247-250,共4页
Computer Simulation
关键词
机器人
路径规划
人工蜂群算法
组合优化
Mobile robot
Path planning
Artificial bee colony （ABC） algorithm
Combinatorial optimization
