首页 | 本学科首页   官方微博 | 高级检索  
     

基于粒子群优化算法的移动机器人全局路径规划
引用本文:孙 波,陈卫东,席裕庚.基于粒子群优化算法的移动机器人全局路径规划[J].控制与决策,2005,20(9):1052-1055.
作者姓名:孙 波  陈卫东  席裕庚
作者单位:上海交通大学,自动化研究所,上海,200030
基金项目:国家自然科学基金项目(60105005,60475032)
摘    要:提出了一种基于粒子群优化算法的移动机器人全局路径规划方法.该方法首先进行环境地图建模,通过坐标变换在路径的起点与终点之间建立新地图,然后利用粒子群优化算法获得一条全局最优路径.该方法模型简单,算法复杂度低,收敛速度快,而且模型不依赖于障碍物的形状.仿真实验证实了该方法的有效性.

关 键 词:移动机器人  路径规划  粒子群优化算法
文章编号:1001-0920(2005)09-1052-04
收稿时间:2004-09-20
修稿时间:2004-09-202005-02-22

Particle Swarm Optimization Based Global Path Planning for Mobile Robots
SUN Bo,CHEN Wei-dong,XI Yu-geng.Particle Swarm Optimization Based Global Path Planning for Mobile Robots[J].Control and Decision,2005,20(9):1052-1055.
Authors:SUN Bo  CHEN Wei-dong  XI Yu-geng
Affiliation:Institute of Automation, Shanghai Jiao Tong University, Shanghai 200030, China. Correspondent: CHEN Wei- dong, E-mail : wdehen@sjtu.edu. cn
Abstract:A global path planning approach based on particle swarm optimization (PSO) is presented. The first step is to make a new map between starting-point and goal-point through coordinate system transferring. Then the PSO is introduced to get a global optimized path. This algorithm has a simple model, low complexity, rapid convergence and no restrict on the shapes of obstacles. Simulation results are provided to verify the effectiveness and practicability.
Keywords:Mobile robots  Path planning  Particle swarm optimization (PSO)
本文献已被 CNKI 维普 万方数据 等数据库收录!
点击此处可从《控制与决策》浏览原始摘要信息
点击此处可从《控制与决策》下载全文
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号