| 基于PSO和滚动优化的不确定环境下移动机器人动态路径规划 |
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| 引用本文： | 蔡晓慧,李艳君,吴铁军.基于PSO和滚动优化的不确定环境下移动机器人动态路径规划[J].科技通报,2008,24(2):260-265. |
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| 作者姓名： | 蔡晓慧 李艳君 吴铁军 |
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| 作者单位： | 浙江大学智能系统与决策研究所,工业控制技术国家重点实验室,杭州,310027 |
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| 基金项目： | 国家重点基础研究发展计划(973计划) |
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| 摘 要： | 针对全局环境未知且存在动态障碍物情况下的移动机器人路径规划问题,本文提出了一种结合粒子群算法(PSO)和滚动优化策略的动态路径规划方法。通过在一系列移动空间窗口中进行在线规划来充分利用机器人实时测得的局部环境信息,并用粒子群算法求解每一个移动窗口内的最优路径。为及时躲避动态障碍物,提出了一种适用于动态未知环境下的适应度函数。仿真试验表明,该方法克服了现有局部路径规划方法的高复杂性的缺点,算法操作简单、具有全局寻优能力、收敛速度快、鲁棒性好,可以满足机器人在复杂的未知动态环境下路径规划的实时性要求。
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| 关 键 词： | 移动机器人 动态路径规划 粒子群算法 滚动优化 不确定环境 |
| 文章编号： | 1001-7119（2008）02-0260-06 |
| 收稿时间： | 2007-02-03 |
| 修稿时间： | 2007年2月3日 |
Dynamic Path Planning of Mobile Robots in Uncertain Environments Based on PSO and Receding Horizon Optimization |
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| CAI Xiaohui,LI Yanjun,WU Tiejun.Dynamic Path Planning of Mobile Robots in Uncertain Environments Based on PSO and Receding Horizon Optimization[J].Bulletin of Science and Technology,2008,24(2):260-265. |
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| Authors: | CAI Xiaohui LI Yanjun WU Tiejun |
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| Abstract: | A new planner based on the combination of a particle swarm algorithm(PSO) and a receding horizon optimization is developed in this paper for the path planning of single mobile robot in a global uncertain environment with dynamic obstacles.The robot path is planned on-line in a series of receding spatial windows to make full use of the local environment information sensed by the robot,and the particle swarm algorithm is applied in each receding window to optimize the predicted robot path.A evaluation function suitable for uncertain environments is proposed to avoid dynamic obstacles in time.Simulation results indicate that the proposed method has many advantages including simple realization,global optimization,rapid convergence and good robustness,meeting real-time requirements of robot path planning in complex uncertain environments with dynamic obstacles. |
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| Keywords: | Mobile robot dynamic path planning particle swarm algorithm receding horizon optimization uncertain environment |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
