复杂动态环境下机器人避撞路径规划

发布时间：2019-03-13 11:18

【摘要】：为了使机器人在复杂动态环境中实现最优路径规划,提出了改进人工蜂群算法的路径规划方法。分析了传统的人工蜂群算法原理,引入了小步长侦查蜂为跟随蜂提供障碍物分布的先验信息;为了防止机器人与动态障碍物发生碰撞,对动态障碍物周围的可行节点进行障碍化处理,将节点障碍指数与节点与目标点距离糅合为节点选择准则,同时提出了障碍避撞预测和障碍避撞策略。由仿真实验可以看出,改进算法不仅成功实现避撞,而且规划出避撞条件下的最优路径。
[Abstract]:In order to realize optimal path planning of robot in complex dynamic environment, a path planning method based on improved artificial colony algorithm is proposed. The principle of traditional artificial bee colony algorithm is analyzed, and a small step-size detection bee is introduced to provide prior information of obstacle distribution for follow-up bee. In order to prevent the robot from colliding with the dynamic obstacle, the feasible nodes around the dynamic obstacle are treated with obstacles, and the node obstacle index and the distance between the node and the target point are combined as the node selection criteria. At the same time, the prediction of obstacle avoidance and the strategy of obstacle avoidance are put forward. It can be seen from the simulation experiment that the improved algorithm not only successfully realizes collision avoidance, but also plans the optimal path under the condition of collision avoidance.
【作者单位】：上海第二工业大学;
【基金】：国家自然科学基金(61272470) 上海第二工业大学校级重点学科建设资助(NO:XXKPY1603)
【分类号】：TP242

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