移动机器人路径规划技术试题.doc

基于粒子群算法的机器人路径规划研究摘要: 研究移动机器人路径规划问题。针对传统移动机器人路径规划算法搜索时间长,效率低,寻优能力差等问题,提出了一种基于粒子群算法的机器人路径规划方法。该方法首先采用神经网络描述机器人工作环境,在此基础上通过坐标变换建立新地图; 然后将机器人路径表示为粒子位置, 并以路径长度为粒子群的适应度值; 最后粒子之间的相互协作, 不断更新粒子位置和速度, 获得一条从起始点到目标点全局最优路径。基于粒子群的机器人路径规划方法提高了路径规划的计算效率和可靠性,可应用于机器人的实时导航。关键词:移动机器人;粒子群算法;路径规划 Mobile Robot Path Planning Algorithm Based on Particle Swarm O ptimization A bstract : Research on mobile robot path planning traditional mobile robot path planning algorithm search time is long, low efficiency, poor optimization ability problem, puts forward a kind of robot path planning method based on particle swarm optimization ( PSO ) method first the work is adopted to describe the robot working environment, on the basis of this by creating a new map coordinate transformation;Then put the robot path is expressed as the particle position, and take the path length for particle swarm fitness value;Update the last cooperation between particles, particle position and speed, get a global optimal path from the starting point to the target method is simulated in MATLAB platform, the experimental results show that the robot path planning method based on particle swarm improves putational efficiency and reliability of the path planning, can be applied to real-time navigation of the robot. K eyword s:M obile robot ;P article swarm optimization ( PSO ) ;P ath planning 0引言移动机器人