一种基于量子风驱动优化算法的移动机器人路径规划

Path Planning for Mobile Robot Based on Quantum Wind Driven Optimization Algorithm

针对移动机器人路径规划过程中算法效率低、在复杂环境中自适应能力差、容易陷入局部最优的问题,将风驱动优化算法应用到路径规划中。首先使用包围点算法确定围绕关键障碍物的一组栅格点,在基于包围点算法生成初始路径后,使用量子风驱动算法对生成的路径进行优化。将风驱动优化算法与量子蝙蝠算法和量子粒子群算法分别在10张地图中进行测试,由测试数据可以看出量子风驱动算法在路径长度和算法效率上都优于其他两种算法。最后将3种算法应用到移动机器人中,风驱动优化算法的优势性与地图测试结果一致。

Aiming at the problem of low efficiency of algorithm in mobile robot path planning,poor adaptability in complex environment and easy falling into local optimum,the wind driven optimization algorithm is applied to path planning.Firstly,the use of the surrounding point set algorithm helped to determine a set of grid points,which was around the critical obstacle.After generating the initial path based on the surrounding point set algorithm,the quantum wind driven algorithm was utilized to optimize the generated wind path.The comparison of the wind driven optimization algorithm,quantum bat algorithm and quantum particle swarm optimization was conducted on 10 maps.It indicated that the wind driven optimization algorithm in both the path length and algorithm efficiency was superior to the other two algorithms.Finally,the algorithms are employed in mobile robot.The better performance of wind driven optimization algorithm is consistent with that of the map tests.