基于粒群行为与克隆的移动机器人进化路径规划

来源期刊：中南大学学报(自然科学版)2005年第5期

论文作者：李枚毅 蔡自兴

文章页码：739 - 744

关键词：移动机器人;路径规划;粒群行为;克隆;进化算法

Key words：mobile robot; path planning; swarm behavior; clone; evolutionary algorithms

摘    要：针对移动机器人路径规划,将粒群行为和生命科学中的免疫克隆原理、进化算法相结合,将过去进化过程中的经验通过粒群行为来体现,提出了一种结合粒群行为和免疫克隆的移动机器人进化规划,较快速地规划出性能是全局优化的可行路径。分析了粒群行为的二种学习方式对路径规划的作用,研究了通过调整粒群行为操作中的参数实现多路径规划。通过仿真实验,对上述算法进行了验证。

Abstract: An immune evolutionary planning algorithm with swarm behavior and clone for mobile robot, which combines clone principle in life science with swarm into evolutionary algorithm, was presented. Experiences (excellent individuals) in elapsed evolutionary process were stored by swarm behavior, and by means of swarm behavior and clone, evolutionary algorithms could quickly plan global-optimal path. Relation of learning approaches in swarm behavior and performs of path planning was analyzed, and the multi-path planning could be attained by means of adjusting parameters in the operator of swarm behavior. The simulating experimental results show that the algorithms will improve performance of path planning for mobile robot.

基金信息：国家自然科学基金资助项目