| 一种基于粒子群算法的移动机器人路径规划方法 |
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| 引用本文： | 赵先章,常红星,曾隽芳,高一波. 一种基于粒子群算法的移动机器人路径规划方法[J]. 计算机应用研究, 2007, 24(3): 181-183 |
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| 作者姓名： | 赵先章 常红星 曾隽芳 高一波 |
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| 作者单位： | 中国科学院,自动化研究所,北京,100080;中国科学院,自动化研究所,北京,100080;中国科学院,自动化研究所,北京,100080;中国科学院,自动化研究所,北京,100080 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 针对结构化环境中移动机器人路径规划问题,提出一种基于粒子群的路径规划算法.该算法利用适应度函数描述环境约束及路径的距离信息,适应度函数通过神经网络计算;由路径节点构成粒子,通过混合粒子群算法进行寻优.最后,通过计算机仿真验证了该算法是合理的,并且可应用于机器人的实时导航.
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| 关 键 词： | 路径规划 粒子群 适应度函数 神经网络 |
| 文章编号： | 1001-3695（2007）03-0181-03 |
| 修稿时间： | 2005-12-092006-06-13 |
Path Planning Method for Mobile Robot Based on Particle Swarm Algorithm |
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| ZHAO Xian zhang,CHANG Hong xing,ZENG Jun fang,GAO Yi bo. Path Planning Method for Mobile Robot Based on Particle Swarm Algorithm[J]. Application Research of Computers, 2007, 24(3): 181-183 |
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| Authors: | ZHAO Xian zhang CHANG Hong xing ZENG Jun fang GAO Yi bo |
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| Affiliation: | (Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China) |
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| Abstract: | A novel path planning approach based on particle swarm was presented aiming at mobile robots in structured environments. The information of environment constrains and path length was integrated in the fitness function which was computed by neural net work, the path nodes was viewed as a particle, so with the quality of optimization of hybrid particle swarm algorithm, a best path was found. Finally by computer simulation, it is proved that the algorithm is rational and can be used in mobile robot real-time navigation. |
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| Keywords: | path planning particle swarm fitness function neural network |
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