摘要
路径规划是移动机器人导航技术中的核心问题。在以往的研究中,机器人被视为一个点并且优化的目标为使路径最短,这种建模方法得到的路径往往不具有良好的可执行性。讨论了一种考虑路径平滑度和路径安全度的规划算法,并通过带惩罚函数的粒子群算法对其进行求解。最后在MATLAB中通过仿真试验验证了算法的有效性。
Path planning is a core problem in the navigation technology of autonomous mobile robots.However,robots are modeled as points and the path length is considered as a only optimization target in previous research.Sometimes results of this kind of modelling method are infeasible.In this paper,a novel path planning algorithm which considers path smoothness and path safety is proposed.Then a solution based on particle swarm optimization（PSO）algorithm combined with the penalty function is discussed.At last,a simulation experiment in MATLAB is implemented to verify the effectiveness of the algorithm.
出处
《机械工程与自动化》
2015年第1期168-170,共3页
Mechanical Engineering & Automation
关键词
移动机器人
路径规划
粒子群算法
mobile robots
path planning
particle swarm optimization（PSO）algorithm
