2020年 05期

摘要(Abstract)：

针对复杂室内环境下移动机器人的路径规划问题,提出一种面向多目标同时优化的改进萤火虫算法;该算法利用栅格地图对机器人作业环境进行建模,将Pareto支配关系引入到萤火虫个体的亮度评价过程,构建精英库保留算法迭代过程中的Pareto非支配解,采用自适应网格划分策略维护种群的多样性;以路径长度、路径安全性和路径平滑度为目标进行运动路径的搜索与优化。仿真结果表明,与经典的带精英策略的非支配排序遗传算法相比,面向多目标同时优化的改进萤火虫算法求得Pareto非支配解集更优越。

关键词(KeyWords)： 移动机器人;多目标路径规划;改进萤火虫算法

基金项目(Foundation): 国家自然科学基金项目(61801264);; 山东省自然科学基金项目(ZR2016FL13)

作者(Author): 范江波,王彧,郑昆,李锐,刘志坚,段朋

DOI: 10.13349/j.cnki.jdxbn.20200518.001

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