改进ABC算法的图书馆服务机器人路径规划  

Library service robots path planning based on improved ABC optimization algorithm

作　　者：郭瑱[1] GUO Zhen(Library of Shandong University,Jinan 250100,China)

机构地区：[1]山东大学图书馆,济南250100

出　　处：《信息技术》2022年第12期19-23,共5页Information Technology

基　　金：国家自然科学基金(61402262);教育部协同育人项目(201902037048)。

摘　　要：针对人工蜂群算法用于图书馆服务机器人路径规划中效果不理想的现状,研究了一种在收敛速度、寻优精度、规划效率和扩展性等综合性能上更优的路径规划方法。该方法使用反向学习策略和全局搜索机制对基本人工蜂群算法进行改进,平衡算法的全局开发和局部勘探能力。其次在路径规划过程中使用三次样条插值对路径进行平滑。最后,在简单和复杂环境设置中对所提算法进行仿真。实验结果表明,相比于对比算法,所提算法能够找到最短的无障碍路径。In response to the unsatisfactory results of the artificial bee colony algorithm for path planning in library service robots,a path planning method with better overall performance in terms of convergence speed,optimization-seeking accuracy,planning efficiency and scalability is investigated.The method uses a backward learning strategy and a global search mechanism to improve the basic artificial bee colony algorithm,balancing the global exploitation and local exploration capabilities of the algorithm.Secondly,the paths are smoothed using cubic spline interpolation in the path planning process.Finally,the proposed algorithm is simulated in simple and complex environment settings.The experiment results show that the proposed algorithm is able to find the shortest unobstructed paths compared to the comparison algorithms.

关 键 词：图书馆服务机器人 人工蜂群算法 三次样条插值 路径规划 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]