一种基于免疫机理的确定性移动机器人路径规划算法
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作者单位:

江苏海洋大学

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中图分类号:

TP273

基金项目:

江苏省第五期“333工程”科研项目(BRA2018288)、研究生科研创新计划(KYCX19-2316)


A Path Planning Algorithm of Deterministic Mobile Robot Based on Immune Mechanism
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Affiliation:

Jiangsu ocean university

Fund Project:

The 5th

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    摘要:

    为了解决移动机器人路径规划算法的确定性与搜索空间之间的矛盾,基于免疫机理提出一种确定性移动机器人路径规划算法.该算法首先利用路径起始点和目标点垂线确定的正向环境空间,在此空间内依据疫苗启发规则构建初始抗体种群,保证路径起始点和二级节点对正向解空间全覆盖;然后,根据正向切线点数量进行抗体克隆,在疫苗启发作用下对后续节点进行重构变异,同时定义单点抗体重构提升率,用以动态调整抗体数量,扩大抗体搜索空间.算法以抗体节点数判断抗体的变异代数,确定抗体种群的进化代数,从而实现确定性路径搜索;最后,针对不同工况,将本文算法与其他算法进行实验比较,结果验证了新算法的确定性和有效性,最优解平衡了路径距离和转向代价,更符合移动机器人的运动需求.

    Abstract:

    The paper proposes a immune mechanism based path planning algorithm of deterministic mobile robot for the contradiction between the certainty of mobile robot path planning and the search space of the algorithm. Firstly, In this paper, for ensuring the positive solution space is fully covered by the initial point of the path and the secondary node, a initial antibody population is constructed by vaccine heuristic rule in the positive environment space, which is determined by perpendicular line of the initial point and the target point of the path. Then Antibody cloning was carried out according to the number of positive tangent points, and the subsequent node was reconstructed and mutated under the inspiration of vaccine. In addition, the improvement rate of single-point antibody reconstruction is presented to dynamically adjust the number of antibodies and expand the search space of antibodies. To realize the deterministic path search, the algorithm uses the number of antibody nodes to judge the mutation times of antibody and decided the evolution times of antibody population. Finally, the proposed algorithm is compared with other algorithms in different working condition. The results verify the new algorithm"s certainty and effectiveness, and the optimal solution is balanced between the path distance and the steering cost, which is more in line with the motion requirements of the mobile robot.

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  • 收稿日期:2020-01-13
  • 最后修改日期:2020-06-12
  • 录用日期:2020-07-01
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