基于鱼群算法的智能机器人全覆盖路径规划  

Full Coverage Path Planning of Intelligent Robot Based on Fish Swarm Algorithm

作　　者：邓红[1] 孙栩[1] DENG Hong;SUN Xu(Heilongjiang Institute of Technology,Haerbin 150050,China)

机构地区：[1]黑龙江工程学院,哈尔滨150050

出　　处：《计算机测量与控制》2023年第7期222-227,297,共7页Computer Measurement &Control

基　　金：黑龙江省哲学社会科学项目(20TQB065)。

摘　　要：为保证机器人的行驶轨迹可以全方位地覆盖地图的全部坐标点,并降低路径重复率,基于鱼群算法设计了智能机器人全覆盖路径规划方法;建立了智能机器人死区脱困模型,以此为依据计算了栅格地图模型中的目标活性值,获取整体栅格数量,根据地图中栅格状态得到了脱困时的行驶角度差;基于鱼群算法设计了全路径覆盖判定方法,根据不同目标鱼个体之间的距离,在三重移动目标坐标系下获取了元素坐标向量,并建立了每个目标点的求解代价和,计算得到下一个目标点行驶的最小距离;设计了机器人全覆盖路径规划算法,以判断当前位置是否为死区,获取了路径规划的全局最优解,实现了智能机器人的全覆盖路径规划;利用Matlab仿真软件进行了智能机器人全覆盖路径规划实验;结果表明,在简单环境下,该路径规划方法覆盖率为100%,重复率为5.23%,路径长度为15.36 m;在复杂环境下,该路径规划方法的覆盖率为100%,重复率则为10.24%,路径长度为20.34 m;由此证明了该方法具有较好地规划效果。In order to ensure that the robot's travel path can cover all the coordinate points of the map in all directions and reduce the path repetition rate,an intelligent robot s full coverage path planning method based on the fish swarm algorithm is designed.a dead zone model of the intelligent robot based on the model is built,the target activity value in the grid map model is calculated,the overall grid number is obtained,and the driving angle err is obtained according to the grid state in the map.Based on the fish swarm algorithm,a full path coverage determination method is designed.According to the distance between different target fish individuals,the element coordinate vector is obtained under the triple moving target coordinate system,and the solution cost of each target is established,and the minimum distance of the next target is calculated.A robot full coverage path planning algorithm is designed to determine whether the current position is a dead zone,obtain the global optimal solution of the path planning,and realize the full coverage path planning of the intelligent robot.The full coverage path planning experiment of the intelligent robot is carried out by using Matlab simulation software.The results show that in a simple environment,the coverage rate of the path planning method is 100%,the repetition rate is 5.23%,and the path length is 15.36 m;In a complex environment,the coverage rate of the path planning method is 100%,the repetition rate is 10.24%,and the path length is 20.34 m.It proves that the method has a good planning effect.

关 键 词：鱼群算法 智能机器人 全覆盖路径规划 路径规划算法 死区脱困 地图栅格 

分 类 号：TN06[电子电信—物理电子学]