基于元胞聚焦搜索的移动机器人路径规划方法  

Mobile Robot Path Planning Method Based on Cellular Stochastic Focusing Search

作　　者：陈志军[1] 钟阳晶[2] CHEN Zhijun;ZHONG Yangjing(Yiwu Industrial and Commercial College,Yiwu 322000,China;Guangdong Agriculture Industry Business Polytechnic,Guangzhou 510507,China)

机构地区：[1]义乌工商职业技术学院,浙江义乌322000 [2]广东农工商职业技术学院,广东广州510507

出　　处：《广东农工商职业技术学院学报》2020年第3期63-67,共5页Journal of Guangdong Agriculture Industry Business Polytechnic

基　　金：2020年度义乌工商职业技术学院科研常规项目(YB2020JD188-01)。

摘　　要：针对移动机器人路径规划存在的问题,结合元胞聚焦搜索算法建立一种移动机器人路径规划方法。首先,该方法利用人工势场法对移动路径进行规划,建立了移动环境的生成指标和评价参数,并利用元胞聚焦搜索算法对路径实施优化。最后使用仿真实验,深入研究影响此方法的关键因素。与其他算法相对比,实验结果表明该方法具有更好的精确度和有效性。Aiming at the path planning problem of mobile robot,a new path planning method is proposed by cellular stochastic focusing search algorithm.At first,the path is planned by artificial potential field,and the generating indicators and evaluation parameters of mobile environment are presented.Then,it is optimized with cellular stochastic focusing search algorithm.Finally,the influencing key factors are intensively studied through simulation experiment.Compared to other algorithm,the results show that it has better accuracy and effectiveness.

关 键 词：移动机器人 路径规划方法 人工势场 元胞聚焦搜索算法 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]