改进人工鱼群法的机器人路径规划方法  

Robot Path Planning Method Based on Improved Artificial Fish School Method

作　　者：张宁 陈茜茜 李微 张秀峰 ZHANG Ning;CHEN Qian-qian;LI Wei;ZHANG Xiu-feng(National Research Center for Rehabilitation Aids,Beijing 100176,China;School of Electrical and Electronic Engineering,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]国家康复辅具研究中心,北京100176 [2]天津理工大学电气电子工程学院,天津300384

出　　处：《计算机技术与发展》2022年第4期210-214,共5页Computer Technology and Development

基　　金：国家重点研发计划项目(2018YFB1307200)。

摘　　要：针对以往机器人路径规划未考虑地图全局优化,仅考虑路径长度或躲避障碍物,造成路径规划效果差的缺陷,提出了改进人工鱼群法的机器人路径规划方法。选取多面模型表示法建立机器人行驶路径的环境空间模型,将路径总长度最短以及路径安全度最高作为路径规划目标建立机器人路径规划总目标函数,利用改进人工鱼群法求解所建立总目标函数。改进人工鱼群法通过栅格法离散化所建立环境空间模型,自适应调整拥挤度因子以及视觉范围,令视觉范围在追尾操作以及聚群操作中维持不变,依据路径规划需求评价人工鱼个体环境,依据评价结果选取觅食、追尾以及聚群操作实现机器人路径规划。实验结果表明,该方法可满足机器人路径规划总长度最短以及路径安全度最高需求,路径规划时间低于400 ms。Aiming at the shortcomings of the previous robot path planning,which resulted in poor path planning effect due to only considering the path length or avoiding obstacles without considering the global optimization of map,an improved artificial fish swarm method is proposed for robot path planning.The environment space model of robot traveling path is established by using multi-faceted model representation.The shortest total path length and the highest path safety are taken as the path planning objectives to establish the overall objective function of the robot’s path planning,which is solved by the improved artificial fish swarm method.The improved artificial fish swarm method is used to discretize the established environmental space model by grid method,adaptive adjustment of intensive factor and visual range which is maintained in rear-end operation and the cluster operation.The individual environment of artificial fish is evaluated according to the path planning requirements,and foraging,rear-end and clustering operations are selected according to the evaluation results to realize the robot path planning.The experiment shows that the proposed method can meet the requirements of the shortest total length of robot path planning and the highest path safety,and the path planning time is less than 400 ms.

关 键 词：人工鱼群法 多面模型表示法 栅格法离散化 机器人路径规划 视觉范围 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]