基于改进 SSA 算法的移动机器人二维和三维路径规划

IF 2.1 Q3 ROBOTICS
Mailing Zhang, Pei Hao
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引用次数: 0

摘要

近年来,移动机器人已广泛应用于工业自动化、物流、军事、医疗和服务等行业。然而,传统的移动机器人在复杂的路径规划中面临着困难。为了解决这个问题,人们提出了一种机器人二维和三维路径规划方法。该方法基于改进的麻雀搜索算法(SSA),引入了参数自适应更新策略,以平衡搜索和开发。为了增强算法在三维环境中的路径搜索能力,本研究在 SSA 的基础上创新性地引入了蚁群算法来生成初始路径。它还引入了局部搜索机制,帮助算法选择最优路径。实验表明,改进后的算法可以快速规划出最短路径,长度缩短了 3.37% 和 6.82%。平均长度分别减少了 6.09% 和 5.54%。为了验证其搜索性能,改进算法显著提高了收敛精度,平均适合度分别提高了约 20.5%、24% 和 27.5%。所提出的技术具有良好的应用效果,将为移动机器人在负载环境中的路径规划提供重要的技术参考。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

2D and 3D path planning for mobile robots based on improved SSA algorithm

2D and 3D path planning for mobile robots based on improved SSA algorithm

In recent years, mobile robots have been widely used in industrial automation, logistics, military, medical, and service industries. However, traditional mobile robots face difficulties in complex path planning. To solve this problem, a robot 2D and 3D path planning method has been proposed. Based on improved sparrow search algorithm (SSA), this method introduces a parameter adaptive update strategy to balance search and development. To enhance the algorithm’s path search capability in 3D environments, this study innovatively introduces ant colony algorithm to generate initial paths based on SSA. It also introduces local search mechanism to help the algorithm select the optimal path. Experiments have shown that the improved algorithm can quickly plan the shortest path, with a length reduction of 3.37% and 6.82%. It has reduced the average length by 6.09% and 5.54%, respectively. To verify its search performance, the improved algorithm significantly improved its convergence accuracy, and improved its mean fitness by about 20.5%, 24%, and 27.5%, respectively. The proposed technology has good application effects and will provide important technical references for mobile robots’ path planning in load environments.

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来源期刊
CiteScore
3.80
自引率
5.90%
发文量
50
期刊介绍: The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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