电子学报2016，Vol.44Issue(9)：2242-2247,6.DOI:10.3969/j.issn.0372-2112.2016.09.032
基于多元优化算法的路径规划
A Path Planner Based on Multivariant Optimization Algorithm
摘要
Abstract
A heuristic intelligent path planning method based on the multivariant optimization algorithm and the Bezi-er curve is presented.The path planning problem is transformed into an optimization problem through using the Bezier curve to represent a path in this method.Then,the multivariant optimization algorithm is applied to find the optimal control points of the best Bezier curve,aiming at finding the optimal path.The multivariant optimization algorithm searches the solution space through iterations of alternative global and local search.According to the different responsibilities,the search individu-als (atoms)could be divided into two types:the global atoms and the local atoms.In each iteration,global atoms explore the whole solution space to local potential areas,and then,local atoms exploit each potential area.Obviously,atoms are charac-terized by multivariant responsibilities,hence the name of the multivariant optimization algorithm.The good performance of the multivariant optimization algorithm is ensured by the efficient communication and cooperation of multivariant atoms.To evaluate the performance of the multivariant optimization algorithm,comparative experiments against the other three classical heuristic path planning algorithms are carried out based on a standard testing map.The results show that our proposed meth-od is superior to the other methods in optimality,stability and efficiency.关键词
多元优化算法/全局元/局部元/路径规划/贝塞尔曲线Key words
multivariant optimization algorithm/global atom/local atom/path planning/Bezier curve分类
信息技术与安全科学引用本文复制引用
李宝磊,吕丹桔,张钦虎,施心陵,陈建华,张榆锋..基于多元优化算法的路径规划[J].电子学报,2016,44(9):2242-2247,6.基金项目
国家自然科学基金（No．61261007，No．61403349，No．11303094）；云南省自然科学基金重点项目 （）
