摘要
移动机器人路径规划是指在有障碍物的环境中,规划出一条连接起始点与目标点的无碰撞路径,是移动机器人进行导航和运动控制的基础,生物群体智能算法因种群的智慧和择优特性而被广泛地应用于移动机器人、无人机、无人船和无人车的路径规划中。本文依据不同生物种群的仿生原理,将生物群体智能算法分为功能仿生算法、信息仿生算法和成分(化学)仿生算法,在研究分析各类算法的基础上,对生物群体智能算法在实现移动机器人路径规划过程中存在的问题、解决方案和性能进行综合。基于移动机器人路径规划的准确性和实时性的要求,提出生物群体平衡自适应搜索算法、边缘算法和云网融合技术将是移动机器人路径规划的研究热点。
Path planning of mobile robot is to plan a collision-free path between the starting point and the target point in an environment with obstacles,which is the basis of navigation and motion control.Biological swarm intelligent algorithm is widely used in the path planning of mobile robots,UAVs,unmanned ships and unmanned vehicles because of the intelligent and optimal characteristics of the population.In this paper,according to the bionic principle of different biological groups,the biological swarm intelligence algorithm is divided into function bionic algorithm,information bionic algorithm and composition(chemical substance)bionic algorithm.Based on the research and analysis of all kinds of algorithms,the problems,solutions and performances of biological swarm intelligence algorithm in the process of mobile robot path planning are summarized.Based on the accuracy and real-time requirements of mobile robot path planning,the adaptive search algorithm of biological population balance,edge algorithm and cloud network fusion technology are proposed,which will be the research hotspot of mobile robot path planning.
作者
李琼琼
布升强
杨家富
LI Qiongqiong;BU Shengqiang;YANG Jiafu(School of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China)
出处
《世界科技研究与发展》
CSCD
2021年第5期535-546,共12页
World Sci-Tech R&D
基金
南京市科技创新项目“氢能源汽车电池管理系统(含软件)”(2015CG047)。
关键词
生物群体智能算法
移动机器人
路径规划
Biological Swarm Intelligence Algorithm
Mobile Robot
Path Planning
