粒子滤波优化算法及其在路线优化中的应用  

The particle filtering optimization algorithm and its application in route optimization

作　　者：黄国兴 郭靖 张泓栩 袁韬雅 王静文 卢为党[1] HUANG Guoxing;GUO Jing;ZHANG Hongxu;YUAN Taoya;WANG Jingwen;LU Weidang(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023;College of Information Engineering,Harbin Institute of Technology,Weihai 264209;College of Information Engineering,China Jiliang University,Hangzhou 310023)

机构地区：[1]浙江工业大学信息工程学院,杭州310023 [2]哈尔滨工业大学(威海)信息工程学院,威海264209 [3]中国计量大学信息工程学院,杭州310023

出　　处：《高技术通讯》2025年第1期1-8,共8页Chinese High Technology Letters

基　　金：国家自然科学基金(62101495);浙江省教育厅科研基金(Y202043181)资助项目。

摘　　要：路线优化即路径规划问题是指在环境信息已知的情况下,找到一条路程最短且避免与障碍物碰撞的有效路线。该问题的求解算法由于环境信息的复杂多变存在很多局限性,目前用于求解路径长度最小化的算法在求解过程中容易陷入局部最优问题,且收敛速度也较慢。针对这类问题,提出了一种基于粒子滤波优化方法的求解思路。首先,在环境信息已知的情况下,确定了其起点与终点的位置信息,其最优路径就是固定的,可以把求解路径最优问题看成是一个对路径长度的优化问题;然后,利用粒子滤波的方法对其进行最优求解估计;同时,引用蚁群算法的信息素思想进一步改进其优化过程,使优化更快地进行收敛,找到其最优解。仿真实验表明,采用粒子滤波优化方法能够精确找到路径最优路线,并且其收敛速度性能良好。Route optimization or path planning problem refers to finding an effective route with the shortest distance and avoiding collision with obstacles when the environmental information is known.Due to the complexity and variability of environment information,the algorithm for solving this problem has many limitations.The current algorithm for solving the path length minimization is easy to fall into the local optimal problem in the process of solving,and the convergence speed is slow.To solve these problems,an optimization method based on particle filter is proposed.First,if the location information of the starting point and the ending point is determined,the optimal path is fixed,and solving the path optimization problem can be regarded as an optimization problem of the path length.Then the particle filter method is used to estimate the optimal solution.At the same time,the pheromone idea of ant colony algorithm is used to further improve the optimization process,so that the optimization can converge faster and find the optimal solution.Finally,the simulation results show that the particle filter optimization method can accurately find the optimal route,and its convergence speed is good.

关 键 词：粒子滤波 路径规划 局部最优 优化算法 信息素 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]