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Robot path planning method of multi-intelligent optimization parallel algorithm

A parallel algorithm and path planning technology, applied in the field of robotics, can solve the problems of high time consumption, weak search ability, instability, etc., and achieve the effect of short path distance, improved search ability, and fast path planning speed.

Active Publication Date: 2021-07-13
重庆邮智机器人研究院有限公司 +1
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Problems solved by technology

A single intelligent algorithm has the problems of weak search ability, and simple fusion causes time-consuming and unstable problems

Method used

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  • Robot path planning method of multi-intelligent optimization parallel algorithm
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  • Robot path planning method of multi-intelligent optimization parallel algorithm

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Embodiment Construction

[0051] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic concept of the present invention, and the following embodiments and the features in the embodiments can be combined with each other in the case of no conflict.

[0052] Wherein, the accompanying drawings are for illustrative purposes only, and represent only schematic diagrams, rather than physical drawings, and should...

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Abstract

The invention relates to a robot path planning method based on a multi-intelligent optimization parallel algorithm, and belongs to the technical field of robots. The method comprises the following steps: S1, realizing path planning of the mobile robot by utilizing the global search capability of a particle swarm optimization algorithm; S2, using a particle swarm optimization algorithm as a trunk, embedding selection, crossover and mutation operators in a genetic algorithm (GA) and chemotactic operation in a bacterial foraging algorithm (BFO) to enhance local search capability; S3, optimizing the path by using a parallel strategy, and improving the path planning efficiency of the robot; and S4, designing a grid environment map for evaluating the superiority of the algorithm. In a complex multi-obstacle environment, compared with other algorithms, the multi-intelligent optimization parallel algorithm makes up for the defects of a PSO algorithm, the local and overall search capability is greatly improved, the path planning speed is high, the path distance is short, and meanwhile higher robustness is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a robot path planning method based on a multi-intelligence optimization parallel algorithm. Background technique [0002] Path planning has always been a key issue in the research field of intelligent mobile robots. Its purpose is to ensure that the robot has the shortest path from the specified starting position to the predetermined goal, and can avoid environmental obstacles during the process. There are many solutions to the problem of path search, which can solve the general research problem to varying degrees. Path planning can be divided into traditional path planning algorithms and intelligent path planning algorithms according to the degree of intelligence. Traditional path planning algorithms include simulated annealing (Simulated Annealing Algorithm, SA), artificial potential field method (Artificial Potential Field, APF), fuzzy logic (Fuzzy Logic Algorithm, FLA), tabu se...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0276
Inventor 黄超张毅郑凯
Owner 重庆邮智机器人研究院有限公司
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