一种基于粒子群算法的轮式机器人路径规划

针对轮式机器人具有非完整性约束的情况,为了优化机器人路径,提出了利用粒子群算法处理轮式机器人在滚动窗口内的路径优化问题。根据机器人当前滚动窗口内的障碍物信息进行避障和趋向目标运动,同时在充分考虑轮式机器人运动特性的基础上构建了一个符合其非完整性约束和避障要求的适应度函数,从而能较好地满足实时避障的要求。为了尽量减少可行区域由于障碍物建模造成的损失,提出了采用改进的栅格法进行建模,该方法较全面地考虑了障碍物的外形尺寸。仿真实验证明上述方法的正确性和有效性。

A Method of Path Planning for Wheeled Robot Based on Particle Swarm Optimization

There is constraint of non-holonomy in wheeled robot,so the method of path optimization explored in this paper is to utilize particle swarm algorithm to settle the problem in rolling window.By means of this method,the wheeled robot can do obstacle-avoidance and object-oriented movement only according to the obstacle information of the robot in the present rolling window,at the same time a fitness function for the robot which satisfies its non-holonomy and obstacle-avoidance requirements is constructed on th...