摘要
根据煤矿救援环境特点,采用人工鱼群算法对救援路径进行规划,在二维平面内建立环境模型,并采用威胁区域距离检测的方式处理优化约束条件。对不同数目参考点选取进行对比研究,增加参考点数目,路径长度增加,算法复杂程度提高,迭代时间延长,算法性能下降;参考点过少会导致路径规划成功率降低。仿真结果表明,设置合理的参考点数目,人工鱼群算法能在较短的迭代时间内成功规划得到最优路径。
According to the mine rescue environmental characteristics, the artificial fish swarm algorithm was used for mine rescue robot path planning. The environment model was established on two-dimensional plane, and the optimization constraints condition＇s were disposed by the manner of threats regional distance detection. The different number of reference points selected for comparative studies, the path length increased, the complexity of the algorithm improved, and the iterative time of al gorithm prolonged with the number of reference points increased that leaded the algorithm performance degenerated. The number of reference points was too few would lead to low path planning success rate. The simulation results indicated that the artificial fish swarm algorithm could plan the optimal reasonable number of the reference points successfully in a short period of iterative time. path with a
出处
《煤矿机械》
北大核心
2014年第4期59-61,共3页
Coal Mine Machinery
基金
国家自然科学基金项目(61105063)
