一种基于免疫机理的确定性移动机器人路径规划算法
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作者单位:

1. 江苏海洋大学 机械与海洋工程学院,江苏 连云港 222005;2. 江苏海洋大学 电子工程学院,\quad 江苏 连云港 222005;3. 湖南工学院 计算机与信息科学学院,湖南 衡阳 421002

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E-mail: honglu912@163.com.

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TP273

基金项目:

江苏省第五期“333工程”科研项目(BRA2018288);江苏省研究生科研创新计划项目(KYCX19-2316).


A path planning algorithm of deterministic mobile robot based on immune mechanism
Author:
Affiliation:

1. School of Mechanical and Marine Engineering,Jiangsu Ocean University,Lianyungang 222005,China;2. School of Electronic Engineering,Jiangsu Ocean University,Lianyungang 222005,China;3. School of Computer and Information Science,Hunan Institute of Technology,Hengyang 421002,China

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    摘要:

    为了解决移动机器人路径规划算法的确定性与搜索空间之间的矛盾,基于免疫机理提出一种确定性移动机器人路径规划算法.该算法首先利用路径起始点和目标点垂线确定的正向环境空间,在此空间内依据疫苗启发规则构建初始抗体种群,保证路径起始点和二级节点对正向解空间全覆盖;然后,根据正向切线点数量进行抗体克隆,在疫苗启发作用下对后续节点进行重构变异,同时定义单点抗体重构提升率,用以动态调整抗体数量,扩大抗体搜索空间.算法以抗体节点数判断抗体的变异代数,确定抗体种群的进化代数,从而实现确定性路径搜索.最后,针对不同工况,将所提出算法与其他算法进行实验比较,结果验证了新算法的确定性和有效性,最优解平衡了路径距离和转向代价,更符合移动机器人的运动需求.

    Abstract:

    The paper proposes an immune mechanism based path planning algorithm of deterministic mobile robot for the contradiction between the certainty of mobile robot path planning and the search space of the algorithm. Firstly, for ensuring the positive solution space fully covered by the initial point of the path and the secondary node, an initial antibody population is constructed using the vaccine heuristic rule in the positive environment space, which is determined by the perpendicular line of the initial point and the target point of the path. Then, antibody cloning is carried out according to the number of positive tangent points, and the subsequent node is reconstructed and mutated under the inspiration of vaccine. In addition, the improvement rate of single-point antibody reconstruction is presented to dynamically adjust the number of antibodies and expand the search space of antibodies. To realize the deterministic path search, the algorithm uses the number of antibody nodes to judge the mutation times of antibody and decided the evolution times of antibody population. Finally, the proposed algorithm is compared with other algorithms in different working condition. The results verify the certainty and effectiveness of the proposed algorithm, and the optimal solution is balanced between the path distance and the steering cost, which is more in line with the motion requirements of the mobile robot.

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范俊岩,褚雨,岳迪,等.一种基于免疫机理的确定性移动机器人路径规划算法[J].控制与决策,2021,36(10):2418-2426

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  • 在线发布日期: 2021-08-18
  • 出版日期: 2020-10-20