基于改进蝙蝠算法机器人避障研究  

Research on Obstacle Avoidance of Robot Based on Improved Bat Algorithm

作　　者：黄华东[1] 陈亮[2] HUANG Hua-dong;CHEN Liang(Changsha Social Work College,Changsha 410004,China;Changsha Normal University,Changsha 410004,China)

机构地区：[1]长沙民政职业技术学院,长沙410004 [2]长沙师范学院,长沙410004

出　　处：《组合机床与自动化加工技术》2022年第6期58-61,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：湖南省教育厅2019年普通高校教学改革研究项目(湘教通2019(291)号)。

摘　　要：针对避障研究中,基本蝙蝠理论过早收敛,容易达到局部极值点的问题,对其进行改进。改进方向主要在算法中以线性渐变方式调节响度和脉冲发射率,通过脉冲发射率的大小控制蝙蝠进行全局搜索或局部精确搜索,优化了收敛速度慢的问题。在局部寻优阶段融合高斯柯西变异策略,前期利用柯西函数两翼高概率特性产生广范围随机数,扩大算法搜索范围,后期利用高斯函数中间概率高,两端概率低的特性进行精准定位。同时采用边界再分配机制,优化了蝙蝠在边界聚集,带来的种群多样性不足问题,提高收敛效率。最后,利用三次样条插值法将拐点平滑,形成一条光滑曲线。仿真表明,改进后的蝙蝠算法相较于基本蝙蝠算法各项指标得以提升,对机器人工作运行更为有利。In the research of obstacle avoidance,the basic bat theory converges prematurely and is easy to reach the local extremum.The improvement direction is mainly to adjust loudness and pulse emissivity in a linear gradient way,and control bat to conduct global search or local accurate search by the value of pulse emissivity,so as to optimize the problem of slow convergence speed.In the local optimization stage,the Gaussian Cauchy mutation strategy is integrated.In the early stage,the high probability characteristics of the two wings of the Cauchy function are used to generate a wide range of random numbers to expand the search range of the algorithm.In the later stage,the high probability characteristics of the middle and low probability characteristics of the two ends of the Gaussian function are used for accurate positioning.At the same time,the boundary redistribution mechanism is used to optimize the bat aggregation at the boundary,which leads to the problem of insufficient population diversity and improves the convergence efficiency.Finally,the inflection point is smoothed by cubic spline interpolation to form a smooth curve.Simulation results show that compared with the basic bat algorithm,the improved bat algorithm can improve the performance of the robot.

关 键 词：蝙蝠算法 高斯柯西变异 三次样条插值 避障 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]