摘要
针对动态环境中多移动机器人路径规划问题,将协同进化算法和改进人工势场法相结合,提出了一种全局路径规划和局部路径规划有效结合的新方法。仿真结果验证了该算法在多移动机器人路径规划中的可行性和有效性。
For path planning of the multi-mobile robot in the dynamic environment,the co-evolutionary algorithm and improved artificial potential field algorithm are combined in this paper,which presents a new method of global path planning combined with local path planning.The feasibleness and effectiveness of the proposed hybrid algorithm in path planning for multi-mobile robots are demonstrated by simulations results.
出处
《辽宁科技大学学报》
CAS
2010年第5期464-468,473,共6页
Journal of University of Science and Technology Liaoning
基金
国家自然基金资助项目(60874017)
辽宁省高校创新团队支持计划资助项目(2007T082)
关键词
机器人
路径规划
协同进化算法
人工势场法
robots
path planning
co-evolutionary algorithm
artificial potential field algorithm
