基于蜣螂算法和DWA算法的机器人动态路径规划  

Dynamic path planning of robot based on dung beetle algorithm and DWA algorithm

作　　者：王海群 宋国章 晁帅 谭全伟 葛超 WANG Haiqun;SONG Guozhang;CHAO Shuai;TAN Quanwei;GE Chao(School of Electrical Engineering,North China University of Science and Technology,Tangshan 063200,CHN;Admissions and Employment Office,North China University of Science and Technology,Tangshan 063200,CHN)

机构地区：[1]华北理工大学电气工程学院,河北唐山063200 [2]华北理工大学招生就业处,河北唐山063200

出　　处：《制造技术与机床》2024年第12期21-29,共9页Manufacturing Technology & Machine Tool

基　　金：河北省自然科学基金项目(F2021209006)。

摘　　要：为解决机器人在复杂动态环境中的路径规划问题,提出一种融合改进蜣螂算法(improved dung beetle optimizer,IDBO)和改进动态窗口法(improved dynamic window algorithm,IDWA)的动态路径规划方法。首先,使用改进的蜣螂算法生成全局最优路径。针对蜣螂算法容易陷入局部最优解的问题,提出了混沌映射初始化种群、融合自适应t分布扰动策略以及螺旋搜索策略,提高算法的性能。其次,使用改进的动态窗口法跟踪全局最优路径,进行动态避障。针对动态窗口法容易发生碰撞、线速度波动频繁等问题,提出了3种改进方法,即结合全局路径规划算法,防止陷入局部最优;设置机器人初始航向角,减少路径冗余;增加线速度变化评估函数,解决线速度频繁改变问题。最后,将两种改进后的算法进行融合,设置动、静态路径规划试验。试验结果表明,融合算法可以实现基于全局最优路径的实时动态避障,规划的路径长度更短,安全性更高,线速度序列更加平滑。To solve the path planning problem of robot in complex dynamic environment,a dynamic path planning method based on improved dung beetle optimizer(IDBO)and improved dynamic window algorithm(IDWA)is proposed.Firstly,the improved dung beetle algorithm is used to generate the global optimal path.Aiming at the problem that dung beetle algorithm is easy to fall into local optimal solution,a chaotic map initialization population,adaptive t-distribution disturbance strategy and spiral search strategy are proposed to improve the performance of the algorithm.Secondly,the improved dynamic window algorithm is used to track the global optimal path and avoid obstacles dynamically.In order to solve the problems of dynamic window method,such as collision and frequent linear velocity fluctuation,three improvement methods are proposed,which are combined with global path planning algorithm to prevent local optimization,the initial heading angle of the robot is set to reduce path redundancy,and the linear velocity change evaluation function is added to solve the problem of frequent linear velocity change.Finally,the two improved algorithms are fused,and dynamic and static path planning experiments are set up.Experimental results show that the proposed algorithm can realize realtime dynamic obstacle avoidance based on the global optimal path,and the planned path length is shorter,the security is higher,and the linear velocity sequence is smoother.

关 键 词：路径规划 蜣螂算法 动态窗口法 动态避障 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]