改进人工鱼群算法的机器人点对点路径规划  

Robot Point to Point Path Planning Based on Improved Artificial Fish Swarm Algorithm

作　　者：张雷 ZHANG Lei(Zhengzhou Vocational University of Information and Technology,He’nan Zhengzhou 450008,China)

机构地区：[1]郑州信息科技职业学院,河南郑州450008

出　　处：《机械设计与制造》2019年第1期223-226,231,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(60974138)

摘　　要：为了提高人工鱼群算法在机器人路径规划中的性能,提出了改进的人工鱼群算法。介绍了栅格环境建模方法;分析了人工鱼群算法基本原理和参数,为了使人工鱼群算法适用于栅格环境,对算法的视觉范围、移动步长进行了重新定义;引入了公示牌用来记录鱼群历史最优点;提出了自适应视觉范围和自适应拥挤度因子,用于协调算法的全局搜索能力和搜索精度;通过实验可以看出,改进算法规划出的最优路径比传统算法优化6%以上,路径平均值优化7%以上。To improve property of artificial fish swarm algorithm in path planning of robot,improved artificial fish swarm algorithm is proposed. Grid method used to model working area is introduced. To make artificial fish swarm algorithm applicable to grid environment,visual range and step length is defined anew. Billboard is put forward to record history optimal point of fish swarm. self-adaptive visual range and self-adaptive crowded degree factor are proposed to coordinate global search capability and search accuracy. Experiment is executed to verify superiority of improved algorithm,which shows that optimal path of improved algorithm advance more than 6% than traditional algorithm,and path mean of improved algorithm advance more than 7% than traditional algorithm.

关 键 词：机器人 点对点路径规划 人工鱼群算法 公示牌 自适应视觉范围 自适应拥挤度因子 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]