计算机工程与应用 ›› 2008, Vol. 44 ›› Issue (32): 48-50.DOI: 10.3778/j.issn.1002-8331.2008.32.014

• 理论研究 • 上一篇    下一篇

基于人工鱼群算法的机器人路径规划

聂黎明,周永权   

  1. 广西民族大学 数学与计算机科学学院,南宁 530006
  • 收稿日期:2007-12-10 修回日期:2008-02-29 出版日期:2008-11-11 发布日期:2008-11-11
  • 通讯作者: 聂黎明

Path planning of robot based on artificial fish-swarm algorithm

NIE Li-ming,ZHOU Yong-quan   

  1. College of Mathematics and Computer Science,Guangxi University for Nationalities,Nanning 530006,China
  • Received:2007-12-10 Revised:2008-02-29 Online:2008-11-11 Published:2008-11-11
  • Contact: NIE Li-ming

摘要: 首先采用链接图建立机器人工作空间模型,用Dijkstra算法求得链接图最短路径;然后使用人工鱼群算法对此路径进行优化,最终得到全局最优路径。以一个路径为例,进行了实际编程计算,结果表明,基于人工鱼群算法的机器人路径规划方法,具有较快的收敛性和较高的计算精度。

关键词: 人工鱼群算法, 最优路径, 路径规划, 机器人

Abstract: In this paper,the link graph is used to describe the working space of the mobile robot and the Dijkstra algorithm is used to obtain a sub-optimal collision-free path from the start point to the goal point in the graph,then adopt the AFSA(Artificial Fish-Swarm Algorithm) to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path by adjusting the points of the path.A calculation for an example has been done and the computation result shows that this method has some advantages as convergence and computation precision.

Key words: Artificial Fish-Swarm Algorithm(AFSA), optimal path, path planning, robot