A Robot Hybrid Path Planning Algorithm Under Improved Unknown and Dynamic Environment

doi:10.3969/j.issn.1006-2475.2016.04.012

Abstract

Abstract:

Robot path planning under dynamic and unknown environment is one of important issues in mobile robot navigation, which is difficult to deal with by traditional methods. Aiming at this problem, an improved hybrid path planning algorithm is proposed. In the proposed approach, an improved Memetic algorithm is used to obtain an optimal global path at first, which is used to navigate the robot. And then a Morphin algorithm is used to plan an optimal local path based on the information sensed to avoid dynamic obstacles. The simulation experiments results show that the proposed algorithm is of good efficiency in the path planning task under dynamic and unknown environment.

Key words: dynamic path planning, Memetic algorithm, Morphin algorithm, hybrid, unknown environment

CLC Number:

TP301.6

CAO Qing-yun1, NI Jian-jun1,2, WANG Kang1, WU Liu-ying1.

A Robot Hybrid Path Planning Algorithm Under Improved Unknown and Dynamic Environment[J]. Computer and Modernization, 2016, 0(4): 54-58.

References

［1］马千知,雷秀娟. 改进粒子群算法在机器人路径规划中的应用［J］. 计算机工程与应用, 2011,47(25):241-244.

［2］曲道奎,杜振军,徐殿国,等. 移动机器人路径规划方法研究［J］. 机器人, 2008,30(2):97-101.

［3］殷霞红,倪建军,吴榴迎. 一种基于改进人工蜂群算法的机器人实时路径规划方法［J］. 计算机现代化, 2015(3):1-4.

［4］杨淮清,肖兴贵,姚栋. 一种基于可视图法的机器人全局路径规划算法［J］. 沈阳工业大学学报, 2009,31(2):225-229.

［5］杨柳,张洪,高忠国. 基于人工势场法的移动机器人路径规划研究［J］. 机床与液压, 2011,39(9):68-70.

［6］ Lee Tae-kyeong, Baek Sang-hoon, Choi Young-ho, et al. Smooth coverage path planning and control of mobile robots based on high-resolution grid map representation［J］. Robotics and Autonomous Systems, 2011,59(10):801-812.

〖LL〗［7］禹建丽,Kroum ov V,孙增圻,等. 一种快速神经网络路径规划算法［J］. 机器人, 2001,23(3):201-205.

［8］ Burchardt H, Salomon R. Implementation of path planning using genetic algorithms on mobile robots［C］// 2006 IEEE Congress on Evolutionary Computation. 2006:1831-1836.

［9］周之平,华路. 复杂环境路径规划的改进蚁群算法［J］. 计算机工程与设计, 2011,32(5):1773-1776.

［10］赵开新,魏勇,徐立新,等. 改进遗传算法在移动机器人路径规划中的研究［J］. 科技通报, 2015(9):233-236.

［11］潘翔,唐春晖,张仁杰. 基于混合蛙跳算法的移动机器人路径规划［J］. 电子科技， 2015(11):29-33.

［12］Bigaj P, Kacprzyk J. A memetic algorithm based procedure for a global path planning of a movement constrained mobile robot［C］// 2013 IEEE Congress on Evolutionary Computation(CEC). 2013:135-141.

［13］罗飞,汪永超,陈思旭. Memetic算法在机器人路径规划中的应用研究［J］. 机械设计与制造, 2014(2):130-132.

［14］段海滨,张祥银,徐春芳. 仿生智能计算［M］. 北京:科学出版社, 2011.

［15］Qu H, Xing K, Alexander T. An improved genetic algorithm with co-evolutionary strategy for global path planning of multiple mobile robots［J］. Neurocomputing, 2013,120:509-517.

［16］Simmons R, Henriksen L, Chrisman L, et al. Obstacle avoidance and safeguarding for a lunar rover［C］// Proceedings of AIaa Forum on Advanced Developments in Space Robotics, 2001. 2001.

［17］诸葛程晨,唐振民,石朝侠. 基于多层 Morphin 搜索树的UGV局部路径规划算法［J］. 机器人, 2014,36(4):491-497.

[1]	XU Xiaowei, CHENG Yu, QIAN Feng, ZHU Neng, DENG Mingxing. Cryptographic Algorithm of IoV Communication Based on AES [J]. Computer and Modernization, 2024, 0(09): 45-51.
[2]	JIANG Xinzi1, AN Xiaoli1, GAO Shang2. Smart Delivery Service of Public Libraries Based on MTSP Problem [J]. Computer and Modernization, 2024, 0(09): 52-55.
[3]	YOU Jiajing1, 2, HE Yueshun1, HE Linlin1, ZHONG Hailong1, 2. Encryption Traffic Classification Method Based on AHP-CNN [J]. Computer and Modernization, 2024, 0(04): 83-87.
[4]	MA Cai-sha, JIAO Li-nan, LIU You-quan, LI Xin. Anomalous Behavior Detection Network Based on Dilated Convolution and Fused Temporal#br# Features [J]. Computer and Modernization, 2024, 0(02): 75-80.
[5]	LU Wei-qiang. Hybrid Cloud Data Architecture for Civil Aircraft Manufacturing [J]. Computer and Modernization, 2023, 0(06): 95-102.
[6]	Gulbostan Akim, Nurmamat Helil. ABAC Decision Recycling with Dynamic Policy Change [J]. Computer and Modernization, 2022, 0(10): 47-54.
[7]	LIU Hui, DING Xu-dong, YANG Dong-run, ZHANG Ying, LIU Zhong-chen, SUN Mei. A Hybrid Modeling Method for Real-time Prediction of Heat Collection in Solar Heat Collection Systems [J]. Computer and Modernization, 2022, 0(10): 55-61.
[8]	SUN Dan, RAO Lan-xiang, SHI Wei-li, MENG Sha-sha, HU Shao-wen, HU Bi-wei, YING Song. Insider Threat Detection Based on Hybrid N-Gram and XGBoost Theory [J]. Computer and Modernization, 2022, 0(08): 99-105.
[9]	DONG Zhang-gong, SONG Bo, MENG You-xin. Prediction of COVID-19 Based on Mixed SEIR-ARIMA Model [J]. Computer and Modernization, 2022, 0(02): 1-6.
[10]	ZHANG Xiao-fang, FENG Hui-fang. Dynamic Optimal Path Planning Based on Trajectory Big Data [J]. Computer and Modernization, 2021, 0(11): 82-88.
[11]	YAN Sen, WANG Yu-mei. Application of Improved Adaptive Hybrid Ant Colony Algorithm in MRCPSP [J]. Computer and Modernization, 2021, 0(05): 38-43.
[12]	WANG Gui-zhu, LU Ling-yun, LI Xiang. Energy-Efficient Resource Allocation for Hybrid Spectrum Sharing Cognitive Radio Networks [J]. Computer and Modernization, 2020, 0(10): 103-109.
[13]	SHI Ming-hua, WU Guang-chao. An Imbalanced Data Classification of Hybrid Sampling Based on Clustering [J]. Computer and Modernization, 2020, 0(05): 34-.
[14]	ZHU Yang-yang. Hybrid Flower Pollination Algorithm For Solving Global Optimization Problems [J]. Computer and Modernization, 2019, 0(10): 48-.
[15]	ZHU Lin. An Algorithm of Coverage-Hole Patching on Improved Rhomboid Mesh [J]. Computer and Modernization, 2017, 0(9): 85-88,126.