基于二进制粒子群算法的移动机器人路径规划

由于用PSO进行机器人路径规划的研究尚局限于用连续模型规划连续描述的环境中的路径,使算法受到一定的局限性.为此,研究了一种全新的基于栅格法的机器人路径规划二进制粒子群算法.首先用栅格法描述机器人工作环境,在此基础上,将机器人路径表示为粒子位置的二进制编码,并以路径长度为适应值,产生初始种群后,再对粒子位置和速度进行更新,经过多次迭代,即可获得从起始点到目标点的一条全局最优路径.该方法模型简单,算法复杂度低,收敛速度快,计算机仿真实验证明了该方法的有效性和先进性.

Path Planning for Mobile Robot Based on Binary Particle Swarm Optimization

At present,the study of the robot path planning with Particle Swarm Optimization(PSO) is still confined to use the continuous model to plan the path with continuous method,so the algorithm has certain limitations.Then a discrete binary version of the PSO for path planning of robot based on grid method is proposed.The first step of the algorithm is to make the work environment of robot with grid method,based on which robot route is expressed as binary code of the particle location,and the length of the path ...