| 受能量约束的移动机器人最优路径规划 |
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| 引用本文： | 陈世明,孙超峰,江冀海.受能量约束的移动机器人最优路径规划[J].机床与液压,2011,39(9). |
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| 作者姓名： | 陈世明 孙超峰 江冀海 |
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| 作者单位： | 华东交通大学电气学院,江西南昌,330013 |
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| 基金项目： | 国家自然科学基金资助项目(60804066); 江西省教育厅科技项目(GJJ09508) |
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| 摘 要： | 在确保移动机器人持续生存前提下,为了尽量减少机器人的能量消耗,通过定义一些基本运算操作符的运算规则对粒子群算法进行改进,并提出基于动态能量阈值和改进粒子群算法的单机器人多充电站最优路径规划方法,来达到能耗最优。单充电站与多充电站情况下的仿真对比证明:该算法具有很好的寻优能力与收敛效率;在确保移动机器人持续生存的同时,两充电站情况下的能耗比单充电站的能耗平均降低7.03%。因此,在合适的位置增设充电站更有利于降低能耗。
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| 关 键 词： | 改进粒子群算法 移动机器人 动态能量阈值 路径规划 |
Optimal Path Planning of Mobile Robot with Energy Constrained |
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| CHEN Shiming,SUN Chaofeng,JIANG Jihai.Optimal Path Planning of Mobile Robot with Energy Constrained[J].Machine Tool & Hydraulics,2011,39(9). |
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| Authors: | CHEN Shiming SUN Chaofeng JIANG Jihai |
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| Affiliation: | CHEN Shiming,SUN Chaofeng,JIANG Jihai(School of Electrical & Electronic Engineering,East China Jiaotong University,Nanchang Jiangxi 330013,China) |
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| Abstract: | In ensuring the continued survival of mobile robot,in order to minimize energy consumption,some operation rules of the basic operators were defined to improve particle swarm algorithm.A method based on dynamic energy threshold and improved particle swarm algorithm for single-robot and multi-charging station optimal path planning was presented to achieve near-optimal energy consumption.The simulation results in the case of single-charging station and multi-charging station show this method has a very good se... |
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| Keywords: | Improved particle swarm optimization Mobile robot Dynamic energy threshold Path planning |
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