摘要
针对移动机器人路径规划问题提出了一种改进的蝴蝶优化算法。将蝴蝶优化算法与栅格法相结合,并对两种方法结合后的算法进行了具体说明;引入了禁忌表和回溯法,解决了算法在路径寻优中无后续扩展节点的问题;结合三次B样条曲线将路径规划中的最优节点作为控制点进行平滑输出,使移动机器人实际运动路径更加平滑。通过仿真实验,将改进算法与蚁群算法、遗传算法进行比较,证实了改进算法能够有效解决路径规划问题。将改进算法应用到实际的基于ROS的移动机器人上,实验结果证明了改进算法的有效性和可行性。
An improved butterfly optimization algorithm is proposed for mobile robot path planning.Firstly,the butterfly optimization algorithm is combined with the grid method,and the combined algorithm is explained in detail.Secondly,the tabu list and backtracking method are introduced to solve the problem that the algorithm has no subsequent extension nodes in the path optimization.Finally,combined with cubic B-spline curve,the optimal node in the path planning is taken as the control point for smooth output,which makes the actual motion path of mobile robot smoother.Through the simulation experiment,the improved algorithm is compared with ant colony algorithm and genetic algorithm,theresult proves that the improved algorithm can effectively solve the path planning problem,and is an effective and feasible optimization algorithm.Finally,the improved algorithm is applied to the actual mobile robot based on ROS.The experimental results also prove the effectiveness and feasibility of the improved algorithm.
作者
马小陆
梅宏
谭毅波
龚瑞
王兵
MA Xiaolu;MEI Hong;TAN Yibo;GONG Rui;WANG Bing(School of Electrical and Information Engineering,Anhui University of Technology,Maanshan 243002,Anhui,China)
出处
《机械科学与技术》
CSCD
北大核心
2023年第12期2085-2092,共8页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(61472282)
安徽省科技重大专项(202003a05020028)
安徽高校自然科学研究重点项目(KJ2019A0065)
安徽省重点研究开发计划项目(202004a0502001)
特种重载机器人安徽省重点实验室开放课题(TZJQR004-2020)。
关键词
移动机器人
路径规划
蝴蝶优化算法
栅格法
三次B样条曲线
mobile robot
path planning
butterfly optimization algorithm
grid method
cubic B-spline curve
