摘要
路径规划是移动机器人研究的重要领域之一,其优劣直接影响行径过程中机器人与周围环境的交互能力。常用的全局路径规划方法容易产生扩大空间时决策速度下降、死锁等问题,蜘蛛群居算法其收敛速度和搜索能力不佳,通过改进邻域搜索,改进全局搜索和婚配半径,来获得更优的收敛速度和搜索能力,迭代寻优时,通过模拟蜘蛛群体运动规律,即依据雌、雄蜘蛛的协作,相互吸引以及婚配过程进行信息交互,最终得到最优解。实验证明:改进蜘蛛群居算法,可以实现对移动机器人的路径规划,提高其搜索能力,避免在路径规划过程中陷入局部最优,相比于蜘蛛群居算法和粒子群算法,该算法优化后的最短路径和实际路径更优。
Path-planning is one of the important areas of mobile robot,their quality directly influences the behavior when interaction with the surrounding environment. Methods commonly usedby global path-planning are prone to created problems such as dead-lock and speed of decis-ion making. The convergence rate and search ability of the spider social algorithm are not good,by improving the neighborhood search,global search and improve the matching radius,to obtain better convergence speed and search ability,when the iterative method is optimized,on the basis of the female,the male＇s collaboration,information interaction,attraction and the mating process ultimately get the optimal solution. Experiments shows that the improving social spider algorithm for mobile robot in path-planning can improve search ability,avoided fall into local optimum. Compared with the spider social algorithm and the particle swarm optimization algorithm,the spider algorithm shows the shortest and better path.
出处
《科学技术与工程》
北大核心
2016年第35期225-230,共6页
Science Technology and Engineering
基金
2015"大创计划"国家级创新训练项目(201510593021)资助
关键词
改进蜘蛛群居算法
路径规划
协作
搜索能力
improving social spider algorithm
path-planning
collaboration
search ability
