| 一种移动机器人的禁忌搜索自主导航算法 |
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| 引用本文： | 雷小康,刘明雍,闫茂德,李闻白. 一种移动机器人的禁忌搜索自主导航算法[J]. 控制与决策, 2011, 26(9): 1310-1314 |
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| 作者姓名： | 雷小康 刘明雍 闫茂德 李闻白 |
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| 作者单位： | 长安大学电子与控制工程学院,西安,710064 |
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| 基金项目： | 国家自然科学基金项目(50979093); 教育部新世纪优秀人才支持计划项目(NCET-06-0877) |
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| 摘 要： | 纯粹的反应式导航算法在复杂未知环境下易陷入局部极小，为此提出一种基于局部子目标和禁忌搜索的自主导航算法．以当前可视区域内障碍物的关键角点为搜索邻域，利用禁忌搜索算法执行优化操作生成当前子目标，进而采用反应式导航算法对其进行跟踪，最终通过子目标的动态切换引导机器人驶达目标位置．算法可有效克服局部极小，显著提高机器人在复杂环境下的自主性．理论分析和仿真实验验证了算法的可行性和有效性．
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| 关 键 词： | 移动机器人 禁忌搜索 自主导航 子目标 |
| 收稿时间： | 2010-06-11 |
| 修稿时间： | 2010-12-09 |
Tabu search based autonomous navigation algorithm for mobile robot |
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| LEI Xiao-kang,LIU Ming-yong,YAN Mao-de,LI Wen-bai. Tabu search based autonomous navigation algorithm for mobile robot[J]. Control and Decision, 2011, 26(9): 1310-1314 |
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| Authors: | LEI Xiao-kang LIU Ming-yong YAN Mao-de LI Wen-bai |
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| Affiliation: | LEI Xiao-kang1,LIU Ming-yong1,YAN Mao-de2,LI Wen-bai1 1.College of Marine,Northwestern Polytechnical University,Xi'an 710072,China,2.School of Electronic and Control Engineering,Chang'an University,Xi'an 710064,China. |
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| Abstract: | In complex environments,the sole reactive navigation algorithm is easily to be trapped in a loop,which is called the local minima problem.Therefore,an autonomous navigation algorithm based on sub-goal and tabu search algorithm is presented.Aiming at the critical vertex in the visible area as searching neighborhood,the optimization sub-goal is obtained by using the tabu search algorithm.Then the mobile robot tracks the sub-goal by means of reactive navigation and finally reaches the goal by updating the sub-... |
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| Keywords: | mobile robot tabu search autonomous navigation sub-goal |
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