Swarm path planning method based on variable dimension ABC algorithm

A group path and path planning technology, which is applied in the direction of calculation, calculation models, instruments, etc., to achieve the effect of safely avoiding obstacles and improving efficiency

Pending Publication Date: 2017-06-30
哈尔滨欧润瑞德科技有限公司
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Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention proposes a group path planning method based on the variable dimension ABC algorithm on the basis of the existing artificial bee colony algorithm, takes the path planning problem of the group system as the research object, and combines the ABC algorithm to solve multiple Th...

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  • Swarm path planning method based on variable dimension ABC algorithm
  • Swarm path planning method based on variable dimension ABC algorithm
  • Swarm path planning method based on variable dimension ABC algorithm

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Embodiment Construction

[0013] The present invention is described in detail below in conjunction with accompanying drawing:

[0014] The bee colony algorithm has good flexibility, versatility and robustness in solving optimization problems, but the dimension of its solution is certain, which is difficult to satisfy in solving multi-path or swarm system path network optimization problems. Require. In the endpoint heuristic path generation method, the number of navigation points is the dimension of the solution, and the distance between path points is the length r of a single route segment. If the number of navigation points (dimension of the solution) and r are both fixed, it is difficult to obtain a smooth path just by changing the position of the navigation points for route optimization, such as figure 1 (a), s-P 1 -P 2 -P 3 -g is the initialization path, s-P 1 -P 2 -P 3 -g is the optimized path; if the number of waypoints remains unchanged, change the size of r as follows figure 1 As shown ...

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Abstract

A group path planning method based on the variable dimension ABC algorithm, characterized in that: the path planning problem of the group system is taken as the research object, combined with the ability of the ABC algorithm to solve the multi-variable function global optimization speed, and the path of the group system The characteristics of the planning problem are improved. In the initial stage of the path network, the endpoint heuristic method is used to generate the initial solution set in the feasible path solution space, and then the path network is optimized by the MDABC algorithm. A new ABC model is proposed in the optimization process. , it can adaptively adjust the fitness of the solution according to the dimension change of the solution in the solution space, select the optimal solution through the greedy selection mechanism, and obtain the waypoints of the path network that satisfy the robot motion constraints. The multiple robot obtains a safe path network between the task set by connecting the waypoints. That is, it maintains the strong global search ability of the ABC algorithm, and at the same time solves the problem of the algorithm falling into local optimum and poor robustness when facing the path planning problem of multiple robot clusters with multi-constraints and multi-tasks.

Description

technical field [0001] The invention relates to the technical field of intelligent control, in particular to a group path planning method based on variable dimension ABC algorithm. Background technique [0002] In recent years, with the development of computer technology and communication technology, intelligent robots are playing an increasingly important role in human society. Especially in dangerous environments and difficult environments, intelligent robots can replace humans to perform tasks, which reduces the danger of tasks and greatly increases the probability of successful completion of tasks. Pay attention to. The purpose of path planning is to generate a feasible path that satisfies the motion constraints and specific task constraints of intelligent individuals through their own environmental perception capabilities and search algorithms in known, partially known, or unknown environments. The main work of path planning is to establish the environment model of th...

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Application Information

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IPC IPC(8): G06Q10/04G06N3/00
CPCG06Q10/047G06N3/006
Inventor 不公告发明人
Owner 哈尔滨欧润瑞德科技有限公司
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