留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

基于变参数萤火虫算法和Maklink图的路径规划研究

李明富 张玉彦 马建华 周友行

李明富, 张玉彦, 马建华, 周友行. 基于变参数萤火虫算法和Maklink图的路径规划研究[J]. 机械科学与技术, 2015, 34(11): 1728-1732. doi: 10.13433/j.cnki.1003-8728.2015.1116
引用本文: 李明富, 张玉彦, 马建华, 周友行. 基于变参数萤火虫算法和Maklink图的路径规划研究[J]. 机械科学与技术, 2015, 34(11): 1728-1732. doi: 10.13433/j.cnki.1003-8728.2015.1116
Li Mingfu, Zhang Yuyan, Ma Jianhua, Zhou Youhang. Research on Path Planning Based on Variable Parameters Firefly Algorithm and Maklink Graph[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(11): 1728-1732. doi: 10.13433/j.cnki.1003-8728.2015.1116
Citation: Li Mingfu, Zhang Yuyan, Ma Jianhua, Zhou Youhang. Research on Path Planning Based on Variable Parameters Firefly Algorithm and Maklink Graph[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(11): 1728-1732. doi: 10.13433/j.cnki.1003-8728.2015.1116

基于变参数萤火虫算法和Maklink图的路径规划研究

doi: 10.13433/j.cnki.1003-8728.2015.1116
基金项目: 

国家自然科学基金项目(51375419)与湖南省教育厅科研项目(12C0396)资助

详细信息
    作者简介:

    李明富(1979-),讲师,博士,硕士生导师,研究方向机械测试技术、智能机器人,limingfu2001@foxmail.com

Research on Path Planning Based on Variable Parameters Firefly Algorithm and Maklink Graph

  • 摘要: 针对静态二维环境下的全局路径规划问题,提出了一种基于变参数萤火虫算法和Maklink图的全局路径规划方法。将定参数的连续型萤火虫算法改进为变参数的离散型萤火虫算法;根据全局路径规划问题的特点,定义了变参数萤火虫算法的编码规则及萤火虫之间的距离表征方法;以含有多个任意形状障碍物的环境为例,在Maklink图的基础上采用变参数萤火虫算法对路径进行优化,改进后的萤火虫算法能够较好的解决离散路径规划问题。实验表明:变参数萤火虫算法的性能不仅优于标准萤火虫算法,而且在收敛速度、算法稳定性等方面优于粒子群算法。
  • [1] 李磊,叶涛,谭民,等.移动机器人技术研究现状与未来[J].机器人,2002,24(5):475-480 Li L, Ye T, Tan M, et al. Present state and future development of mobile robot technology research[J]. Robot, 2002,24(5):475-480 (in Chinese)
    [2] Romero A, Cazorla M. Topological visual mapping in robotics[J]. Cognitive Processing, 2012,13(1):305-308
    [3] 柳长安,鄢小虎,刘春阳,等.基于改进蚁群算法的移动机器人动态路径规划方法[J].电子学报,2011,39(5):1220-1224 Liu C A, Yan X H, Liu C Y, et al. Dynamic path planning for mobile robot based on improved ant colony optimization algorithm[J]. Acta Electronica Sinica, 2011,39(5):1220-1224 (in Chinese)
    [4] 宋金泽,戴斌,单恩忠,等.一种改进的RRT路径规划算法[J].电子学报,2010,38(2A):225-228 Song J Z, Dai B, Shan E Z, et al. An improved RRT path planning algorithm[J]. Acta Electronica Sinica, 2010,38(2A):225-228 (in Chinese)
    [5] Tan G Z, He H, Sloman A. Ant colony system algorithm for real-time globally optimal path planning of mobile robots[J]. Acta Automatica Sinica, 2007,33(3):279-285
    [6] 陈曦,谭冠政,江斌.基于免疫遗传算法的移动机器人实时最优路径规划[J].中南大学学报,2008,39(3):577-583 Chen X, Tan G Z, Jiang B. Real-time optimal path planning for mobile robots based on immune genetic algorithm[J]. Journal of Central South University, 2008,39(3),577-583 (in Chinese)
    [7] 吴宪祥,郭宝龙,王娟.基于粒子群三次样条优化的移动机器人路径规划算法[J].机器人,2009,31(6):556-560 Wu X X, Guo B L, Wang J. Mobile robot path planning algorithm based on particle swarm optimization of cubic splines[J]. Robot, 2009,31(6):556-560 (in Chinese)
    [8] Yang X S. Firefly algorithm, stochastic test functions and design optimization[J]. International Journal of Bio-Inspired Computation, 2010,2(2):78-84
    [9] Yang X S. Firefly algorithm, levy flights and global optimization[C]//Research and Development in Intelligent Systems XXVI, London: Springer, 2010:209-218
    [10] 周季华,叶春明.应用萤火虫算法求解置换流水线问题[J].计算机应用研究,2013,30(1):152-154 Zhou J H, Ye C M. Using firefly algorithm to solve permutation flow-shop scheduling problem[J]. Application Research of Computers, 2013,30(1):152-154 (in Chinese)
    [11] Jati G K, Suyanto. Evolutionary discrete firefly algorithm for travelling salesman problem[J]. Adaptive and Intelligent Systems, 2011,6943:393-403
    [12] Miguel L F F, Lopez R H, Miguel L F F. MultiModal size, shape, and topology optimisation of truss structures using the firefly algorithm[J]. Advances in Engineering Software, 2013,56:23-37
    [13] Sayadi M K, Hafezalkotob A, Naini S G J. Firefly-inspired algorithm for discrete optimization problems: An application to manufacturing cell formation[J]. Journal of Manufacturing Systems, 2013,32(1):78-84
    [14] 曾冰,李明富,张翼,等.基于萤火虫算法的装配序列规划研究[J].机械工程学报,2013,49(11):177-184 Zeng B, Li M F, Zhang Y, et al. Research on assembly sequence planning based on firefly algorithm[J]. Journal of Mechanical Engineering, 2013,49(11):177-187 (in Chinese)
    [15] Wang C G, Guo L H, Duan H, et al. A modified firefly algorithm for UCAV path planning[J]. International Journal of Hybrid Information Technology, 2012,5(3):123-142
  • 加载中
计量
  • 文章访问数:  121
  • HTML全文浏览量:  17
  • PDF下载量:  3
  • 被引次数: 0
出版历程
  • 收稿日期:  2013-11-21
  • 刊出日期:  2015-11-05

目录

    /

    返回文章
    返回