[1]欧阳海滨,全永彬,高立群,等.基于混合遗传粒子群优化算法的层次路径规划方法[J].郑州大学学报(工学版),2020,41(04):34-40.[doi:10.13705/j.issn.1671-6833.2020.01.011] 　OUYANG Haibin,QUAN Yongbin,GAO Liqun,et al.Hierarchical Path Planning Method for Mobile Robots Based on Hybrid Genetic Particle Swarm Optimization Algorithm[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):34-40.[doi:10.13705/j.issn.1671-6833.2020.01.011] 点击复制 基于混合遗传粒子群优化算法的层次路径规划方法() 分享到： var jiathis_config = { data_track_clickback: true };

41卷

2020年04期

34-40

2020-08-12

文章信息/Info

Title:
Hierarchical Path Planning Method for Mobile Robots Based on Hybrid Genetic Particle Swarm Optimization Algorithm

1. 广州大学机械与电气工程学院2. 东北大学信息科学与工程学院3. 江苏师范大学电气工程及自动化学院
Author(s):
1.School of Mechanical and Electric Engineering,Guangzhou University,Guangzhou 510006,China;2.College of Information Science &Engineering,Northeastern University,Shenyang 110819,China;3.School of Electrical Engineering and Automation,Jiangsu Normal University,Xuzhou 221116,China

Keywords:
DOI:
10.13705/j.issn.1671-6833.2020.01.011

A

Abstract:
Path planning was an important basic problem in the research field of mobile robot.In order to solve the problem of slow searching speed or easily falling into local extremum when using a path planning algorithm alone,a hierarchical path planning method based on hybrid genetic particle swarm optimization (HGA-PSO) was proposed.The main contents of this method include the following parts.Firstly,the triangle method was used to model the space environment path.Secondly,combined with artificial potential field method,an improved genetic algorithm for initial path planning was designed.Thirdly,the particle swarm optimization algorithm was used to optimize the results of the initial path planning to achieve a more reliable optimal path.The simulation results show that the proposed method could integrate the advantages of each algorithm and find the optimal path quick and efficient.

参考文献/References:

[1] 海星朔，徐炳辉，任羿，等.基于改进鸽群优化的机器人自抗扰控制方法[J].郑州大学学报(工学版),2019,40(4):20-24,31.

[2] NEUS M,MAOUCHE S.Motion planning using the modified visibility graph[C]//Proceedings of 1999 IEEE International Conference on Systems,Man,and Cybernetics.Tokyo,IEEE:1999:651-655.
[3] PANOV A I,YAKOVLEV K S,SUVOROV R.Grid path planning with deep reinforcement learning:preliminary results[J].Procedia computer science,2018,123:347-353.
[4] GHITA N,KLOETZER M.Trajectory planning for a car-like robot by environment abstraction[J].Robotics and autonomous systems,2012,60(4):609-619.
[5] MO H W,XU L F.Research of biogeography particle swarm optimization for robot path planning[J].Neurocomputing,2015,148:91-99.
[6] 郗安民,王琦,孙学彬.一种有效的地图创建方法和机器人的路径规划[J].机械设计,2010,27(1):35-37.
[7] HOU P Q,PAN H,GUO C.Simulation research for mobile robot path planning based on improved artificial potential field method recommended by the AsiaSim[J].International journal of modeling,simulation,and scientific computing,2017,8(2):1-14.
[8] PAN Q Y,WANG X Y.Independent travel recommendation algorithm based on analytical hierarchy process and simulated annealing for professional tourist[J].Applied intelligence,2018,48(6):1565-1581.
[9] 陶重犇,雷祝兵,李春光,等.基于改进模拟退火算法的搬运机器人路径规划[J].计算机测量与控制,2018,26(7):182-185.
[10] JIAO Z Q,MA K,RONG Y L,et al.A path planning method using adaptive polymorphic ant colony algorithm for smart wheelchairs[J].Journal of computational science,2018,25:50-57.
[11] HUANG L P,ZHANG B,YUAN X,et al.A novel Bi-Ant colony optimization algorithm for solving multi-objective service selection problem[J].Journal of intelligent and fuzzy systems,2016,31(2):873-884.
[12] XU D P,SHAO H M,ZHANG H S.A new adaptive momentum algorithm for split-complex recurrent neural networks[J].Neurocomputing,2012,93:133-136.
[13] 王雷,李明.改进自适应遗传算法在移动机器人路径规划中的应用[J].南京理工大学学报,2017,41(5):627-633.
[14] EBERHART R C,KENNEDY J.Particle swarm intelligence[C]//Proceedings of the IEEE International Conference on Neural Networks.Perth:IEEE,1995:1942-1948.
[15] LI G S,CHOU W S.Path planning for mobile robot using self-adaptive learning particle swarm optimization[J].Science china information sciences,2018,61:1-18.
[16] HOLLAND J H.Adaptation in natural and artificial systems[M].Ann Arbor:University of Michigan Press,1975.
[17] ZUO L,GUO Q,XU X,et al.A hierarchical path planning approach based on A* and least-squares policy iteration for mobile robots[J].Neurocomputing,2015,170(25):257-266.[18] YANG X,MOALLEM M,PATEL R V.A layered goal-oriented fuzzy motion planning strategy for mobile robot navigation[J].IEEE transactions on systems,man,and cybernetics,part B (cybernetics),2005,35(6):1214-1224.
[19] MAC T T,COPOT C,TRAN D T,et al.A hierarchical global path planning approach for mobile robots based on multi-objective particle swarm optimization[J].Applied soft computing,2017,59:68-76.
[20] 范柄尧,张春美.移动机器人路径规划的混合差分进化算法[J].太原科技大学学报,2019,40(1):6-12.

相似文献/References:

[1]左敏,徐泽龙,张青川,等.基于双维度中文语义分析的食品领域知识库问答[J].郑州大学学报(工学版),2020,41(03):8.[doi:10.13705/j.issn.1671-6833.2020.02.003]
Zuo Min,Xu Zelong,Zhang Qingchuan,et al.A question answering model over food domain knowledge base from two-dimensional Chinese semantic analysis[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):8.[doi:10.13705/j.issn.1671-6833.2020.02.003]
[2]韩华强,陈生水,王占军,等.母岩变形特性差异对堆石料力学性质的影响[J].郑州大学学报(工学版),2020,41(03):67.[doi:10.13705/j.issn.1671-6833.2020.02.017]
Hanwha StrongChen ShengshuiWang ZhanjunZheng ChengfengFu Hua.Influence of deformation characteristics of mother rock on mechanical properties of rockfill materials[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):67.[doi:10.13705/j.issn.1671-6833.2020.02.017]
[3]张三川,苗帅宾.基于热仿真的动力电池箱结构紧凑化参数优化[J].郑州大学学报(工学版),2020,41(03):37.[doi:10.13705/j.issn.1671-6833.2019.05.020]
Zhang Sanchuan,Miao Shuaibin.Research on Structural Parameter Design Based on Thermal Simulation for High Density Displacement Power Battery Box[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):37.[doi:10.13705/j.issn.1671-6833.2019.05.020]
[4]乐金朝,张世兴,乐明静,等.不同损伤度和愈合温度条件下沥青胶浆自愈合行为研究[J].郑州大学学报(工学版),2020,41(04):12.[doi:10.13705/j.issn.1671-6833.2019.04.007]
YUE Jinchao,ZHANG Shixing,YUE Mingjing,et al.Study on Self-healing Behavior of Asphalt Mastic under Different Damage Degree and Healing Temperature[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):12.[doi:10.13705/j.issn.1671-6833.2019.04.007]
[5]王丙琛,司怀伟,谭国真.基于深度强化学习的自动驾驶车控制算法研究[J].郑州大学学报(工学版),2020,41(04):41.[doi:10.13705/j.issn.1671-6833.2020.04.002]
WANG Bingchen,SI Huaiwei,TAN Guozhen.Research on Autopilot Control Algorithms Based on Deep Reinforcement Learning[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):41.[doi:10.13705/j.issn.1671-6833.2020.04.002]
[6]贺占蜀,陈雷,王武军,等.基于ABAQUS的中央电气接线盒温度场分析[J].郑州大学学报(工学版),2020,41(04):68.[doi:10.13705/j.issn.1671-6833.2020.04.001]
HE Zhanshu,CHEN Lei,WANG Wujun,et al.Analysis of Temperature Field for Central Electric Junction Box Based on ABAQUS[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):68.[doi:10.13705/j.issn.1671-6833.2020.04.001]
[7]徐刚,梁帅,刘武发,等.流动聚焦型微流控芯片微通道结构优化[J].郑州大学学报(工学版),2020,41(04):87.[doi:10.13705/j.issn.1671-6833.2020.04.003]
XU Gang,LIANG Shuai,LIU Wufa,et al.Optimization of Micro-channel Structure of Flow Focusing Microfluidic Chip[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):87.[doi:10.13705/j.issn.1671-6833.2020.04.003]
[8]邹卫华,刘鹏磊,刘秋节,等.磁性活性炭对水体中磺胺嘧啶钠的吸附机理研究[J].郑州大学学报(工学版),2020,41(04):92.[doi:10.13705/j.issn.1671-6833.2020.01.008]
ZOU Weihua,LIU Penglei,LIU Qiujie,et al.Investigation into the Adsorption Mechanism of Sulfadiazine Sodium in Aqueous Solution Using Magnetic Biochar[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):92.[doi:10.13705/j.issn.1671-6833.2020.01.008]
[9]严亚丹,李杨,仝佩.基于修正通行能力的出入口位置优化方法[J].郑州大学学报(工学版),2020,41(04):7.[doi:10.13705/j.issn.1671-6833.2020.01.009]
YAN Yadan,LI Yang,TONG Pei.Optimization Method of Road Access Location Based on Modified Capacity[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):7.[doi:10.13705/j.issn.1671-6833.2020.01.009]
[10]王复明,何 航,方宏远,等.交通和运行荷载耦合作用下管道承插口力学响应研究[J].郑州大学学报(工学版),2020,41(04):1.[doi:10.13705/j.issn.1671-6833.2020.01.012]
WANG Fuming,HE Hang,FANG Hongyuan,et al.Mechanical Analysis of The bell-and-spigot Joints of Pipeline Under The Coupling of Traffic and Running Load[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):1.[doi:10.13705/j.issn.1671-6833.2020.01.012]