基于改进变色龙群算法的移动机器人路径规划  

Path planning of mobile robot based on improved chameleon swarm algorithm

作　　者：李丹丹 朱石磊 李仲康 介百坤 王宏 LI Dandan;ZHU Shilei;LI Zhongkang;JIE Baikun;WANG Hong(College of Building Environment Engineering,Zhengzhou University of Light Industry,Zhengzhou 450001,China;Henan Engineering Research Center of Intelligent Buildings and Human Settlements,Zhengzhou 450001,China)

机构地区：[1]郑州轻工业大学建筑环境工程学院,郑州450001 [2]河南省智慧建筑与人居环境工程技术研究中心,郑州450001

出　　处：《现代制造工程》2024年第9期40-45,135,共7页Modern Manufacturing Engineering

基　　金：河南省高等学校重点科研计划项目(22A470014);河南省科技攻关项目(232102211050);郑州轻工业大学青年骨干教师项目(13502010006)。

摘　　要：针对变色龙群算法在解决移动机器人路径规划问题时算法收敛速度慢、寻优精度低和易陷入局部最优等问题,提出一种分数阶变色龙群算法。首先,在算法初始化时采用Tent混沌映射丰富种群多样性,以提高算法的全局搜索能力。其次,加入分数阶更改变色龙攻击猎物时舌头的速度更新公式,以避免算法陷入局部最优并加快算法的收敛速度。最后,采用三次B样条曲线对路径进行平滑操作,以提高移动机器人实际路径的平滑性。仿真结果表明,改进后的变色龙群算法相比于其他算法收敛速度更快,能避开障碍物,寻找到最优路径。Aiming at the problems of slow search speed,low precision of optimization and easy to get into local optimality of chameleon swarm algorithm in solving mobile robot path planning,a fractional order chameleon swarm algorithm was proposed.Firstly,Tent chaotic mapping was used during initialization to enrich the population diversity and to improve the global search ability of the algorithm.Secondly,fractional order was added to change the tongue speed updating formula of chameleon when attacking prey to avoid the algorithm falling into local optimal while accelerating the convergence rate of the algorithm.Finally,cubic B-spline curve was used to smooth the path to improve the smoothness of the actual path of the mobile robot.The simulation results showed that the improved chameleon swarm algorithm converged faster than other algorithms,and could avoid obstacles and find the optimal path.

关 键 词：移动机器人 路径规划 变色龙群算法 分数阶 三次B样条曲线 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程]