基于免疫进化非选择机制的移动机器人路径规划算法研究

张泽明; 罗文坚; 王煦法

doi:10.3724/SP.J.1146.2006.00041

基于免疫进化非选择机制的移动机器人路径规划算法研究

doi: 10.3724/SP.J.1146.2006.00041

基金项目:

国家自然科学基金(60404004)，安徽省教育厅重点项目(2004kj360zd)和中国科学技术大学研究生创新基金资助课题

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出版历程
- 收稿日期: 2006-01-09
- 修回日期: 2006-08-14
- 刊出日期: 2007-08-19

Research of Mobile Robots Path Planning Algorithm Based on Immune Evolutionary Negative Selection Mechanism

摘要

摘要: 该文提出了一种基于免疫进化非选择机制的移动机器人路径规划算法(MRPPA-IENS)。该算法通过非选择操作来避免进化过程中糟糕个体的产生，使得较优个体能较早地生成，加快算法的收敛速度；同时，算法引入基因重组操作以维持群体的多样性，防止早熟收敛。仿真实验结果表明，该文所提出的MRPPA-IENS算法是一种有效的移动机器人路径规划算法，在障碍物完全已知的静态环境和部分已知的动态环境中均优于传统进化算法。
- 移动机器人;人工免疫;进化非选择;动态环境;路径规划
Abstract: A Mobile Robots Path Planning Algorithm based on Immune Evolutionary Negative Selection (MRPPA-IENS) mechanism is proposed in this paper. This algorithm adopts negative selection operators to avoid the bad individuals generation during evolution, which can generate good individuals earlier and accelerate the algorithms convergence. Furthermore, MRPPA-IENS adopts the gene rearrangement operator to maintain the populations diversity. The simulation experimental results demonstrate that the MRPPA-IENS algorithm proposed in this paper is an efficient mobile robots path planning algorithm and the performance of the algorithm is better than that of the traditional evolutionary algorithm when obstacles are perfectly known in static environment or partially known in dynamic environment.

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