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针对多地貌环境下的移动机器人路径规划问题,建立多目标优化模型,并采用微粒群算法解决该问题.首先,采用区域权值表示机器人在各种地形下的通行困难度;然后,结合局部优化准则计算机器人的通行时间,通过计算机器人与危险源之间覆盖的面积来衡量路径的危险程度,并将上述问题转化为两目标优化问题;最后,采用多目标微粒群优化算法优化上述问题.仿真结果表明了所提出方法的有效性.
To solve the problem of mobile robot path planning in multi-topography, a multi-objective optimization model is established and the particle swarm optimization (PSO) algorithm is used to solve this problem.Firstly, the regional weights are used to express the robot’s difficulty of passage under various terrains. Then, The criterion calculates the travel time of the robot, and measures the dangerous degree of the path by calculating the area covered by the robot and the danger source, and transforms the above problem into two-objective optimization problem. Finally, the multi-objective particle swarm optimization algorithm is used to optimize the above problem. The results show the effectiveness of the proposed method.