摘要
提出了基于克隆选择的移动机器人全局路径规划方法.该方法包括环境建模、抗体设计、适应度函数构建,选择策略和免疫算子的定义.在适应度函数构建时既考虑路径距离又考虑与障碍物的相交程度.同时根据机器人路径规划问题设计了变异算子、插入算子和删除算子.该方法与遗传算法相比规划时间更短、规划出的路径质量更高.利用MATLAB仿真验证了该方法的有效性.
Clone selection based mobile robot global path planning method is presented in the article, which is oomposed of environment modeling, antibody design, fitness function construct, selection strategy and immune operator definition. Path distance and degree of intersecting with obstacle are both considered in the definition of fitness function. Mutation operator, insert operator and delete operator are designed according to the problem of mobile robot path planning. The algorithm proposed in the paper spends less time and have good result of path planning than GA. The efficiency of proposed method is validated by simulation with MATLAB.
出处
《微电子学与计算机》
CSCD
北大核心
2009年第8期124-127,共4页
Microelectronics & Computer
基金
东莞市科技计划项目(2007101240042)
