信息与控制2017，Vol.46Issue(3)：283-288,6.DOI:10.13976/j.cnki.xk.2017.0283
基于多策略混合人工鱼群算法的移动机器人路径规划
Path Planning for Mobile Robots Based on Multi-strategy Hybrid Artificial Fish Swarm Algorithm
摘要
Abstract
We propose a path planning method for mobile robots on the basis of multi-strategy hybridartificial fish swarm algorithm (MH-AFSA).We introduce a multi-strategy hybrid strategy to improve the convergence speed and global search ability of the traditional artificial fish swarm algorithm (AFSA).The vision of the artificial fish is enlarged by using the weighted average distance strategy.The log function is used as the step size factor, which overcomes the limitation of the traditional fixed step size.Gauss mutation strategy is used to expand the diversity of the population.The performance of the proposed MH-AFSA is tested by classical function optimization and the traveling salesman problem (TSP).The environment model of mobile robots is established, and the path planning method based on MH-AFSA is presented.Numerical simulations demonstrate the superiority and effectiveness of the proposed method.关键词
人工鱼群算法/移动机器人/函数优化/旅行商问题/路径规划Key words
artificial fish swarm algorithm/mobile robot/function optimization/traveling salesman problem(TSP)/path planning分类
信息技术与安全科学引用本文复制引用
黄宜庆,彭凯,袁梦茹..基于多策略混合人工鱼群算法的移动机器人路径规划[J].信息与控制,2017,46(3):283-288,6.基金项目
国家自然科学基金资助项目(61304127) （61304127）
安徽省自然科学基金资助项目(1408085QF132) （1408085QF132）
安徽工程大学中青年拔尖人才资助项目(2016BJRC004) （2016BJRC004）
