Robot path planning method

A path planning and robot technology, which is applied in the direction of instruments, motor vehicles, vehicle position/route/height control, etc., can solve problems such as easy to fall into local optimal solution and low convergence speed, and achieve short calculation time and good result stability Effect

Active Publication Date: 2016-04-27
GUILIN UNIV OF ELECTRONIC TECH
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Problems solved by technology

[0004] What the present invention aims to solve is the problem that the traditional artificial fish swarm algorithm is applied to robot path planning, which has the problems of low late convergence speed and easy to fall into local optimal solution, and provides a robot path planning method

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Embodiment Construction

[0043] In view of the decrease in the convergence speed of the traditional AFSA algorithm in the later stage, the present invention adds a direction operator to the state of a single fish in the fish school to improve the fish school's behavioral ability and success rate of foraging, clustering, rear-end chasing, etc., which is beneficial to speed up the convergence speed. At the same time, the immune memory feature is introduced into the artificial fish swarm algorithm to improve the global search ability of the algorithm and enhance the ability to avoid being limited to local solutions. We call this improved algorithm Immune-Directional Artificial Fish Swarm Algorithm (Immune-Directional Artificial Fish Swarm Algorithm, IDAFSA )algorithm.

[0044] A robot path planning method based on the immune-directional artificial fish swarm algorithm, such as figure 1 As shown, it specifically includes the following steps: First, determine the entire environment model, including the sta...

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Abstract

The invention discloses a robot path planning method. A direction operator is introduced on the basis of an artificial fish swarm algorithm to improve the accuracy and the success rate of fish swarm behaviors such as clustering, tailgating and even foraging, and an immunological memory operation is added to improve the global searching capability of the algorithm and reduce the probability of local extreme values. Simulation experiments in two typical grid map environments show that compared with a fast genetic algorithm and an artificial fish swarm algorithm, the immunological-directional artificial fish swarm algorithm has the advantages of better result stability, shorter calculation time and feasible solution closer to the optimal path.

Description

technical field [0001] The invention belongs to the technical field of robot artificial intelligence, and in particular relates to a robot path planning method. Background technique [0002] As one of the key technologies of mobile robot navigation, path planning has been widely valued. Robot path planning is to meet certain optimization criteria in a certain environment, such as the minimum work cost, the shortest walking route, the least walking time or the least energy consumption, etc., to find a path from the initial state to the target state in the motion space that can avoid The optimal or near-optimal path to avoid obstacles. Traditional optimization methods, such as artificial potential field methods, visualization graph methods, and grid methods, lack sufficient robustness in complex nonlinear optimization problems such as robot path planning. [0003] With the continuous development of artificial intelligence technology, intelligent bionic path planning algorith...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D2201/0217
Inventor 张文辉林子安刘彤
Owner GUILIN UNIV OF ELECTRONIC TECH
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