微型电脑应用2025，Vol.41Issue(3)：37-40,44,5.
基于BAS-PSO算法的轮式机器人定位方法研究
Research on Positioning Method of Wheeled Robot Based on BAS-PSO Algorithm
摘要
Abstract
In order to improve the anti-jamming ability of robot positioning and obtain the best obstacle avoidance path,a posi-tioning method of wheeled robot based on BAS-PSO algorithm is proposed.Based on the kinematic analysis results of the wheeled robot,the extended Kalman filter algorithm is used to estimate the position of the wheeled robot,which is taken as the initial positioning result of the wheeled robot.The beetle antennae search(BAS)algorithm is used to optimize the initial positio-ning result,and the particle swarm optimization(PSO)algorithm is introduced to update the positioning and rate of individual beetle during the optimization process of the BAS algorithm,so as to optimize the positioning results of the wheeled robot and achieve high-precision positioning of the wheeled robot.The experimental results show that the proposed method has fast con-vergence speed,good fitness performance,and can realize accurate positioning of the wheeled robot.Moreover,the positioning has strong anti-noise interference ability,and the running route obtained according to the positioning results can accurately avoid static obstacles.关键词
轮式机器人/定位优化/运动学模型/天牛须搜索算法/粒子群优化算法Key words
wheeled robot/positioning optimization/kinematic model/beetle antennae search algorithm/particle swarm opti-mization algorithm分类
信息技术与安全科学引用本文复制引用
郭玉,刘波..基于BAS-PSO算法的轮式机器人定位方法研究[J].微型电脑应用,2025,41(3):37-40,44,5.基金项目
天津市技术创新引导专项(基金)企业科技特派员项目(22YDTPJC00410) （基金）
