机械科学与技术2012，Vol.31Issue(7)：1085-1089,5.
自适应人工鱼群算法在清罐移动机器人路径规划中的应用
An Adaptive Artificial Fish School Algorithm for Path Planning of Mobile Tank-clearing Robot
摘要
Abstract
To solve the problem that the intelligent mobile robot path planning method is easy to fall into local opti- mization, this paper presents an adaptive artificial fish school algorithm with variable step size, variable congestion factor and the variable view domain, for the global path planning of mobile cleaning tank robot. Aiming at the shortcomings of artificial fish school algorithm, the new algorithm uses an adaptive adjustment factor to adjust the artificial fish＇s visual field, moving step and the congestion factor to improve the periodicity in cleaning tank path planning of mobile robot, and can get the global best optimal path and local search to avoid the traditional local searching AFSA weak shortcomings. Simulation results show that compared with the artificial fish school algorithm, the adaptive artificial fish school algorithm can quickly obtain the global optimal path and improve the convergence speed and accuracy.关键词
自适应人工鱼群算法/清罐移动机器人/路径规划/最优路径Key words
adaptive artificial fish school algorithm/mobile cleaning tank robot/path planning/optimal path分类
信息技术与安全科学引用本文复制引用
周利坤,刘宏昭..自适应人工鱼群算法在清罐移动机器人路径规划中的应用[J].机械科学与技术,2012,31(7):1085-1089,5.基金项目
国家火炬计划基金项目（07C26213711606）和陕西省重点学科建设专项资金项目（102-00X903）资助 （）
