改進的粒子群優(yōu)化算法及其在機器人路徑規(guī)劃中的應用研究.pdf

1、武漢工程大學碩士學位論文改進的粒子群優(yōu)化算法及其在機器人路徑規(guī)劃中的應用研究姓名：葛林鳳申請學位級別：碩士專業(yè)：計算機應用技術指導教師：張彥鐸20090401ABSTRACTABSTRACTAsacrucialtechniqueofmovingrobot，pathplanningisalwaysfocusedbyresearcherswidelyIt’SmoreimportantfortheHurorobotthathasthefigu

2、resimilartohuman，andcanstandandwalkonfootThecoreofpathplanningishowtoobtaintheglobaloptimizationorsecondclasspathAsonekindofswarmintelligencealgorithmssimulatingactivitiesthatbirdflocklookforfood，particleswarmoptimizatio

3、nhasmanyadvantagessuchasfewparameters，easydesign，simpletorealizeandSOonBasedonimprovedparticleswarmoptimization，thispaperresearchesthepathplanningofrobotandfinishesthetasksasfollowing：Thefirst，thepresentresearchsituation

4、andcategorymethodofpathplanningareanalyzedStemmingfromthebasicdefinition，pathplanningofmovingrobotisdescribedThesecond，basedonparticleswarmoptimization，comparedwithdifferentimprovementandcombinedwithmovingrobot，especiall

5、ytheneedforHuro—robotpathplanning，theimprovedparticleswarmoptimizationbasedonintegerplanningisproposedThethird，Combinedwiththecharacteristicofpathplanningformobilerobot，wetakeadvantageofgridtosetupthespacemodelofrobotwor

6、kenvironmentandputtousetheimprovedparticleswarmoptimizationintopathplanningSOthatthesatisfactorypathplanningisobtainedAtlast，thealgorithmsisappliedinstimulatedexperimentandHuro—robotObstacleRunreallyandgetgoodstimulation