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基于萤火虫算法动态未知环境的路径规划 被引量:9

Path Planning Based on Firefly Algorithm in Dynamic Unknown Environment
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摘要 为实现移动机器人在未知动态环境中自适应导航,该文提出一种基于萤火虫算法的移动机器人路径规划方法。采用单目相机与图像处理技术检测障碍物大小与方位等信息,并通过小孔成像原理测量机器人与障碍物距离;设计萤火虫算法的适应度函数,让机器人在避开障碍物的同时,考虑到达目标点的最短路径。利用Matlab平台建立仿真环境,验证了萤火虫算法在动态未知环境中路径规划的有效性;并将该算法嵌入树莓派移动机器人系统,实验结果表明,该方法可有效地在动态未知环境中规划出较优路径并避让障碍物。 In order to realize adaptive navigation of mobile robot in unknown dynamic environment,a path planning method based on firefly algorithm for mobile robot is proposed.The monocular camera and image processing technol-ogy are used to detect the size and orientation of obstacles,and the distance between the robot and the obstacle is measured by the small hole imaging principle.The fitness function of the firefly algorithm is designed to allow the robot to consider the arrival while avoiding the obstacle.The shortest path to the target point.The simulation envi-ronment is established by using Matlab platform,and the effectiveness of firefly algorithm in path planning in dynam-ic unknown environment is verified.The algorithm is embedded in the Raspberry Pi mobile robot system.The exper-imental results show that the method can be effectively programmed in a dynamic unknown environment.Better path and avoid obstacles.
作者 李凤玲 陈珊 范兴江 刘源 LI Feng-ling;CHEN Shan;FAN Xing-jiang;LIU Yuan(College of Automotive and Mechanical Engineering,Changsha University of Science & Technology,Changsha 410114,China)
出处 《自动化与仪表》 2019年第6期53-58,共6页 Automation & Instrumentation
基金 国家自然科学基金资助项目(51408069) 研究生创新项目(CX2019SS13)
关键词 路径规划 动态环境 萤火虫算法 单目视觉 path planning dynamic environment firefly algorithm(FA) monocular vision
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