| 基于粒子群算法的移动机器人路径规划 |
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| 引用本文： | 黄祎,孙德宝,秦元庆.基于粒子群算法的移动机器人路径规划[J].兵工自动化,2006,25(4):49-50,61. |
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| 作者姓名： | 黄祎 孙德宝 秦元庆 |
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| 作者单位： | 华中科技大学,控制科学与工程系,湖北,武汉,430074 |
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| 摘 要： | 基于粒子群算法的移动机器人路径规划,通过建立目标函数、变换坐标等对环境建模,再引入粒子群优化算法,得到全局最优路径.MATLAB仿真结果显示,此方法可有效地解决空间作业机器人路径规划及避障问题.与传统遗传算法比,该法建模容易,计算快捷,可以在不同的障碍物环境下得到不同的优化轨迹,
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| 关 键 词： | 移动机器人 路径规划 粒子群算法 粒子群算法 移动机器人路径规划 Optimization Algorithm Swarm Particle Based Mobile Robot Planning 优化轨迹 物环境 障碍 计算 环境建模 传统遗传算法 问题 避障 作业 空间 方法 显示 |
| 文章编号： | 1006-1576（2006）04-0049-02 |
| 收稿时间： | 2005-10-11 |
| 修稿时间： | 2005-10-112005-11-09 |
Path Planning of Mobile Robot Based on Particle Swarm Optimization Algorithm |
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| HUANG Yi,SUN De-bao,QIN Yuan-qing.Path Planning of Mobile Robot Based on Particle Swarm Optimization Algorithm[J].Ordnance Industry Automation,2006,25(4):49-50,61. |
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| Authors: | HUANG Yi SUN De-bao QIN Yuan-qing |
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| Abstract: | The path planning of mobile robot is based on particle swarm optimization algorithm. The object function was established and the coordinate was transformed to establish environment model; then the particle swarm optimization was introduced to get the global optimum path. This method was proved by the simulation results of Matlab; the robot path planning in space operation and avoiding obstacles could be resolved effectively by this method. As compared with the traditional genetic algorithm, the modeling is simper and the calculation is quicker; and this method can be used to achieve different optimum traces in various obstacle environments. |
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| Keywords: | Mobile robot Path planning Particle swarm optimization (PSO) |
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