染色体重组鱼群算法的机器人导航路径规划  

Robot Navigation Path Planning Based on Chromosome Recombination Fish Swarm Algorithm

作　　者：毕桂[1] BI Gui(Department of Electronic Engineering,Wuxi Institute of Arts&Technology,Jiangsu Yixing 214200,China)

机构地区：[1]无锡工艺职业技术学院电子工程系,江苏宜兴214200

出　　处：《机械设计与制造》2021年第6期197-201,共5页Machinery Design & Manufacture

基　　金：江苏省大学生创新创业训练计划项目(201713749001Y)。

摘　　要：为了减少机器人导航路径的长度、提高导航路径规划的稳定性,提出了权值可调整染色体重组鱼群算法的导航路径规划方法。在环境建模方面,提出了边探索边建模方法,最大限度地保存了机器人工作空间。在路径规划方面,建立了机器人路径规划数学模型。在传统鱼群算法基础上进行了两点改进,一是提出了视觉范围和步长同步自适应调整方法,使算法探索能力和运动能力能够同步吻合调整,满足算法收敛和寻优要求;二是提出了权值可调整染色体重组方法,使鱼群能够跳出局部极值,向最优值区域靠近搜索,有利于提高算法寻优精度。同时使用改进鱼群算法与传统算法求解机器人路径规划模型,与传统鱼群算法相比,改进算法规划的最优路径长度减少了5.01%,耗时减少了约一倍,路径规划稳定性也优于传统算法。To lessen robot navigation path length and improve stability of path planning,navigation path planning method based on adjusting-weight chromosome recombination fish swarm algorithm is proposed.In the aspect of environment modeling,the method of exploring and modeling at the same time is put forward,robot working space is reserved farthest.In the aspect of path planning,robot path planning model is built.Traditional fish swarm algorithm is improved from two aspects.Firstly,vision field and step size synchronous adaptation method is raised,which make exploring capacity fits with athletic capacity,and the requirement of algorithm convergence and optimizing is satisfied.Secondly,adjusting-weight chromosome recombination method is come up with.The method make fish jump out of local extremum,and close to global extremum area,which benefits to improve optimizing accuracy.Path planning model is solved by traditional fish swarm algorithm and improved fish swarm algorithm respectively,length of optimal path planned by improved algorithm decreases by 5.01%compare with path planed by traditional fish swarm algorithm,and time cost reduces about one time.Besides,path planning stability of improved algorithm is superior to traditional algorithm.

关 键 词：机器人导航规划 染色体重组 人工鱼群算法 视觉范围与步长同步自适应 

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]