摘要
针对一种基于蚂蚁觅食行为的移动机器人路径二次优化方法,指出其要求路径点的调整点足够多和容易陷入局部最优点的局限,说明该局限在实现上相对应的要求是传感器精度、机器人惯性和行走机构与地面的摩擦力,最后采用总路程长度作为优化目标函数并增加等分点对原方法改进。
As to the mobile robot second path optimization based on an ant food-finding,two limitations have been pointed out： one limitation is that the strategy asks for enough adjusting-points,the other is that the strategy is easy to fall into the local optimal point.This shows that the corresponding requirements in practice are the accuracy of sensors,the inertia of robot,and the friction between wheel and ground.Finally,the paper presents the improvement： the length of whole path is taken as the optimum destination function and equal points are added.
出处
《苏州科技学院学报（工程技术版）》
CAS
2009年第3期62-65,共4页
Journal of Suzhou University of Science and Technology （Engineering and Technology）
基金
江苏省高校自然科学基金资助项目(05KJB510113)
关键词
移动机器人
二次路径优化
信号源
mobile robot
second path optimization
signal source
