作　　者： ; ;

机构地区： 东莞职业技术学院

出　　处： 《微电子学与计算机》 2009年第8期124-127,共4页

摘　　要： 提出了基于克隆选择的移动机器人全局路径规划方法.该方法包括环境建模、抗体设计、适应度函数构建,选择策略和免疫算子的定义.在适应度函数构建时既考虑路径距离又考虑与障碍物的相交程度.同时根据机器人路径规划问题设计了变异算子、插入算子和删除算子.该方法与遗传算法相比规划时间更短、规划出的路径质量更高.利用MATLAB仿真验证了该方法的有效性. Clone selection based mobile robot global path planning method is presented in the article, which is oomposed of environment modeling, antibody design, fitness function construct, selection strategy and immune operator definition. Path distance and degree of intersecting with obstacle are both considered in the definition of fitness function. Mutation operator, insert operator and delete operator are designed according to the problem of mobile robot path planning. The algorithm proposed in the paper spends less time and have good result of path planning than GA. The efficiency of proposed method is validated by simulation with MATLAB.

关 键 词： 克隆选择 路径规划 机器入 人工免疫系统

领　　域： [自动化与计算机技术] [自动化与计算机技术]