摘要
提出一种基于Tent混沌变异粒子群的路径滚动规划算法。在改进的粒子群算法中为防止早收敛,加入自适应混沌变异操作,在加强算法局部搜索能力的同时保证搜索过程中种群的多样性。仿真实验结果表明,在障碍物复杂的环境下,利用该算法也可以迅速规划出一条全局较优的安全避碰路径。
A novel rolling path planning algorithm based on Tent chaos mutation particle swarm is presented.For preventing the mature convergence,adaptive chaos mutation operation is added to the improved particle swarm algorithm to enhance local search ability and to keep the diversity of population in the process of searching at the same time.The result of simulation shows that it is able to use this algorithm to plan a global optimal collision-free path rapidly in cluttered environment.
出处
《计算机应用与软件》
CSCD
北大核心
2013年第5期76-79,共4页
Computer Applications and Software
基金
国家高技术研究发展计划项目(SQ2010AA1000764007)
山东省教育厅科技计划项目(J11LG65)阶段性成果
关键词
路径规划
粒子群算法
混沌变异
滚动窗口
Path planning Particle swarm algorithm Chaos mutation Scrolling window
