欢迎访问机床与液压官方网站!

咨询热线:020-32385312 32385313 RSS EMAIL-ALERT
基于改进乌燕鸥算法的移动机器人路径规划
作者:
作者单位:

作者简介:

通讯作者:

中图分类号:

基金项目:


Path Planning of Mobile Robot Based on Improved Sooty Tern Optimization Algorithm
Author:
Affiliation:

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    为克服传统智能算法在解决复杂环境下移动机器人路径规划问题中存在的搜索效率慢和寻优精度低等不足,提出改进乌燕鸥优化算法(ISTOA)。以乌燕鸥算法(STOA)为基础,引入Circle混沌映射机制保证初始种群的质量,提升算法初期搜索效率。同时,提出旋转式翻筋斗搜索策略,对算法的扑食位置进行更新,提高了算法的局部寻优能力。在迁徙过程中,混合正弦控制非碰撞因子和自适应Lévy飞行策略平衡了算法的全局搜索和局部搜索。通过3种不同环境下移动机器人路径规划案例验证了改进乌燕鸥优化算法的有效性。结果表明:改进乌燕鸥优化算法可快速且稳定获得全局最优路径,整体寻优能力优于其他算法,有效地解决了移动机器人在复杂环境中的最优路径规划问题。

    Abstract:

    In order to overcome the shortcomings of slow search efficiency and low optimization precision of traditional intelligent algorithms in solving path planning problems of mobile robots under complex environment,an improved sooty tern optimization algorithm (ISTOA) was proposed.Based on STOA algorithm,Circle chaotic mapping mechanism was introduced to ensure the quality of the initial population and improve the initial search efficiency of the algorithm.At the same time,the rotary somersault search strategy was proposed to update the feeding position of the algorithm,by which the local optimization ability of the algorithm was improved.During the migration,the combination of sinusoidal control non-collision factor and adaptive Lévy flight strategy was introduced to balance the global search and local search of the algorithm.The effectiveness of the ISTOA algorithm was verified by three different cases in path planning of mobile robot.The results show that the ISTOA algorithm can be used to obtain the global optimal path quickly and stably,and the overall optimization ability is better than other algorithms,by which the optimal path planning problem of mobile robot in complex environment is solved effectively.

    参考文献
    相似文献
    引证文献
引用本文

李月英.基于改进乌燕鸥算法的移动机器人路径规划[J].机床与液压,2023,51(3):64-70.
LI Yueying. Path Planning of Mobile Robot Based on Improved Sooty Tern Optimization Algorithm[J]. Machine Tool & Hydraulics,2023,51(3):64-70

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:
  • 最后修改日期:
  • 录用日期:
  • 在线发布日期: 2023-03-02
  • 出版日期: 2023-02-15