基于人工免疫与可视图相结合的移动机器人路径规划方法  

A path planning algorithm for mobile robots based on combination of artificial immune and visibility graph

作　　者：段勇[1] 王猛[1] 徐心和[2] 

机构地区：[1]沈阳工业大学信息科学与工程学院,沈阳110870 [2]东北大学信息科学与工程学院,沈阳110004

出　　处：《高技术通讯》2014年第3期278-283,共6页Chinese High Technology Letters

基　　金：国家自然科学基金(60905054);辽宁省高等学校杰出青年学者成长计划(LJQ2011006)资助项目

摘　　要：针对结构化环境中的自主移动机器人路径规划问题,提出了一种人工免疫算法与可视图相结合的算法,并将其应用于自主机器人路径规划。该算法用包围盒表示环境中的障碍物,继而计算成本矩阵,完成可视图的构建,从编码方式、疫苗设计及接入两方面对人工免疫算法进行改进,并将改进的人工免疫算法应用于可视图中求解优化路径。经过理论分析和实验验证,该算法不仅能够以较高效率求解出优化路径,而且可以满足实体机器人在现实环境中导航的需求。In order to solve the path planning problem of autonomous mobile robots in a structured environment, a path planning algorithm based on the combination of artificial immune and visibility graph was proposed, and it was ap- plied to the path planning of an autonomous mobile robot. This algorithm represents obstacles in an environment through a bounding box. Then, it calculates the cost matrix, and completes the construction of the visibility graph. The artificial immune algorithm was modified in two aspects：the method of coding and the design and insert of the vaccine, and then the improved artificial immune algorithm was used to solve the optimization path in the visibility graph. The results of the theoretical analysis and experiments show that the new algorithm can not only obtain an op- timization path with high efficiency, but also meet the demand of entity robot navigation in real environments.

关 键 词：自主移动机器人 路径规划 人工免疫 可视图 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]