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《中国工程科学》 >> 2013年 第15卷 第1期

基于势场导向权的改进机器人路径规划免疫算法

西安交通大学机械工程学院,西安 710049

收稿日期: 2012-07-13 发布日期: 2013-01-14 15:42:09.000

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摘要

为了解决复杂环境中移动机器人的路径规划问题,结合人工势场法计算量小的特性和人工免疫网络的自适应调节能力,提出了一种改进的路径规划免疫算法。为了提高免疫网络的搜索能力以及免疫网络的收敛性,将人工势场法的规划结果作为先验知识构建了导向权,同时将抗体命令清晰度和抗体转移后的距离变化作为变量,构建了新的抗体转移概率算子。仿真结果表明,与其他算法相比,新算法在最优规划能力和网络收敛性能方面都有明显提高。

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