基于多目标优化克隆算法的巡检机器人导航误差概率分析系统  

Navigation Error Probability Analysis System of Inspection Robot Based on Multi-Objective Optimization Cloning Algorithm

作　　者：施俊龙[1] SHI Jun-long(Information and Data Management Center,Bengbu University,Bengbu 233000,China)

机构地区：[1]蚌埠学院信息化与数据管理中心,安徽蚌埠233000

出　　处：《辽东学院学报（自然科学版）》2023年第1期65-72,共8页Journal of Eastern Liaoning University:Natural Science Edition

基　　金：安徽省教育厅高等学校省级质量工程项目(2017jyxm0542)。

摘　　要：为解决传统方法存在的计算精度低、概率分析准确率低和效率低的问题,设计了基于多目标优化克隆算法的巡检机器人导航误差概率分析系统。该系统整体框架由网络通信部分、数据处理与误差概率分析部分和环境感知部分构成。设计嵌入式数据处理板和网络通信结构,建立巡检机器人导航误差概率分析模型,采用多目标优化克隆算法对模型进行求解,实现巡检机器人导航误差概率的分析。实验结果表明,该系统的计算精度、误差概率分析准确率和效率均较高。In order to solve the problems of low calculation accuracy,low probability analysis accuracy and low efficiency in traditional methods,a navigation error probability analysis system for inspection robot based on multi-objective optimization cloning algorithm was designed.The overall framework of the system consisted of network communication part,data processing and error probability analysis part and environment perception part.In the hardware design,the structure of embedded data processing board and network communication were optimized.In the software design,the navigation error probability analysis model of the inspection robot was established,and the multi-objective optimization cloning algorithm was used to solve the model to realize the analysis of the navigation error probability of the inspection robot.The experimental results showed that the system had higher calculation accuracy,higher error probability analysis accuracy and higher efficiency.

关 键 词：多目标优化克隆算法 巡检机器人 导航误差概率 环境感知 随机性误差 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]