基于改进智能水滴算法的汽车避障局部路径规划  

Local Path Planning for Vehicle Obstacle Avoidance Based on Improved Intelligent Water Drops Algorithm

作　　者：宋晓琳[1] 潘鲁彬 曹昊天[1] 

机构地区：[1]湖南大学,汽车车身先进设计制造国家重点实验室,长沙410082

出　　处：《汽车工程》2016年第2期185-191,228,共8页Automotive Engineering

基　　金：国家自然科学基金(51175159);湖南省科技计划项目(2013WK3024);湖南省研究生科研创新项目(CX2013B146)资助

摘　　要：智能水滴算法是群落智能算法的一种新型算法,它模拟水流与泥沙相互作用而形成水道的机制,可应用于计算科学领域中求解复杂问题。针对原智能水滴算法在求解路径规划问题时,因启发性不足而导致所规划的路径不理想的缺陷,通过改变原算法的概率选择和更新机制,提出了改进的智能水滴算法。与其他算法对比仿真的结果表明,该改进算法的求解能力明显提高。运用于汽车局部路径规划的结果表明,汽车在障碍规避过程中横摆角速度和侧向加速度值均符合稳定性要求,进一步验证了该算法的可行性。Intelligent water drops（ IWD） algorithm is a new swarm intelligent algorithm. It simulates the mechanism of water path forming by the interaction between water and soil,suitable for solving the complicated problems in computation science field. In view of the inadequate heuristic nature of original IWD algorithm,resulting in its incapacity to get an ideal path in solving routing problem,an improved IWD algorithm is proposed through the modifications of probability selection and updating mechanism in original IWD algorithm. The results of simulation on the improved IWD algorithm with comparison to other algorithms indicate that the improved IWD algorithm has its problem solving capability enhanced,and the results of its application to local path planning show that both the yaw rate and lateral acceleration of vehicle meet the requirements of stability in its obstacle avoidance maneuver,further verifying the feasibility of improved algorithm.

关 键 词：智能水滴算法 智能群落算法 路径规划 避障 

分 类 号：U495[交通运输工程—交通运输规划与管理] U463.6[交通运输工程—道路与铁道工程]