基于改进模拟退火混合算法的移动机器人全局路径规划  

Mobile robot global path planning based modified simulated annealing hybrid algorithm

作　　者：梁毓明[1,2] 徐立鸿[1] 

机构地区：[1]同济大学电子与信息工程学院,上海201804 [2]江西理工大学机电工程学院,江西赣州341000

出　　处：《控制与决策》2010年第2期237-240,245,共5页Control and Decision

基　　金：国家自然科学基金项目(60674070)

摘　　要：利用改进模拟退火算法与共轭方向法组成混合全局优化算法,对移动机器人全局路径规划进行求解.该混合全局优化算法先用共轭方向法搜索局部最优解,再用改进模拟退火算法跳出局部最优解,依此更新温度值.如此反复操作,直至找到全局最优解.仿真结果表明该算法具有较好的优化效果,能快速收敛到全局最优解.By using conjugate direction method and modified simulated annealing algorithm,mobile robot global path planning is proposed in this paper. On each temperature,the conjugate direction method is used to search local optimal solution,and the modified simulated annealing algorithm is used to move off the local optimal solution,then the temperature is updated. These operations are repeated until to obtain global optimal solution. The computer simulation results show that this hybrid algorithm is feasibility and better than simulated annealing algorithm on optimization,and its convergence speed is quicker than that of simulated annealing algorithm.

关 键 词：移动机器人 全局路径规划 改进模拟退火算法 共轭方向法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]