移动机器人路径规划仿真研究Simulation study on effective path planning for mobile robot
梁凯,陈志军,闫学勤
摘要(Abstract)：
在移动机器人有效路径规划问题的研究中,针对传统移动机器人有效路径规划算法收敛速度慢、搜索时间长、寻优能力差等问题,提出一种人工鱼群算法与遗传算法相结合的有效路径规划算法。通过栅格法对机器人运动环境进行建模,在静态环境下使用人工鱼群算法进行初始路径规划,将规划所得的初始路径作为遗传算法的初始种群,并使用改进的遗传算法进行迭代优化,寻求一条从起点到目标点的全局最优有效路径。大量仿真结果表明,该混合算法相比其他算法,具有较快的收敛速度和较强的寻优能力。
关键词(KeyWords)： 移动机器人;路径规划;遗传算法;人工鱼群算法;最优有效路径;人工鱼群遗传算法
基金项目(Foundation): 新疆维吾尔自治区自然科学基金项目(2015211C272)~~
作者(Author): 梁凯,陈志军,闫学勤
DOI: 10.16652/j.issn.1004-373x.2018.17.037
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