基于坠落机制的混沌麻雀算法AGV路径规划  

Based on falling mechanism chaotic sparrow algorithm of AGV path planning

作　　者：李一铭 王跟成[1,2,3] LI Yiming;WANG Gencheng(College of Information Engineering,Xizang Minzu University,Xianyang 712082,CHN;Key Laboratory of Optical Information Processing and Visualization Technology of Tibet Autonomous Region,Xianyang 712082,CHN;Xizang Cyberspace Governance Research Center,Xianyang 712082,CHN)

机构地区：[1]西藏民族大学信息工程学院,陕西咸阳712082 [2]西藏自治区光信息处理与可视化技术重点实验室,陕西咸阳712082 [3]西藏网络空间治理研究基地,陕西咸阳712082

出　　处：《制造技术与机床》2023年第1期102-108,共7页Manufacturing Technology & Machine Tool

基　　金：西藏自治区高等教育教学改革研究项目(JG2021-82);2011西藏文化传承发展协同创新中心项目(XZMDYJ16);西藏民族大学“涉藏网络信息内容与数据安全团队”项目(324042000709)。

摘　　要：针对麻雀搜索算法(SSA)在AGV路径规划中存在收敛速度慢、寻优精度差的缺点,提出一种基于坠落机制的混沌麻雀算法(SSA-CD)解决AGV路径规划算法。首先,引入Sinusoidal混沌映射和变尺度混沌策略对种群进行初始化,提高种群多样性使算法具备跳出局部最优解的能力;其次,引入动态黄金正弦策略增强算法发现者位置更新方式;然后,提出一种坠落机制增强种群随机性;最后,通过埃尔米特插值进一步优化最优解,获得更短更平滑的路径。通过栅格地图进行仿真实验,证明了改进算法的有效性、可行性和鲁棒性。To address the drawbacks of slow convergence speed and poor finding accuracy of sparrow search algorithm(SSA) in AGV path planning, a chaotic sparrow algorithm based on the falling mechanism(SSA-CD) is proposed to solve the AGV path planning algorithm. Firstly, Sinusoidal chaos mapping and variable scale chaos strategy are introduced to initialize the population and improve the population diversity so that the algorithm has the ability to jump out of the local optimal solution.Finally, the optimal solution is further optimized by hermite interpolation to obtain shorter and smoother path paths. The effectiveness, feasibility and robustness of the improved algorithm are demonstrated by simulation experiments with raster maps.

关 键 词：路径规划 混沌麻雀算法 坠落机制 变尺度混沌策略 动态黄金正弦策略 埃尔米特插值 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]