基于改进粒子群算法的航迹规划方法.docVIP

Computer Science and Application 计算机科学与应用, 2012, 2, 6-11 /10.12677/csa.2012.21002 Published Online March 2012 (/journal/csa) Route Planning Based on Improved Particle Swarm Optimization Algorithm Zijie Li , Haiguang Wei , Zhipeng Zhou , Chengping Zhou 1 2 1 1 1 Institute for Pattern Recognition and Artificial Intelligence, Multi-Spectral Information Processing Technologies Laboratory, Huazhong University of Science and Technology, Wuhan Jiangsu Automation Institute, Lianyungang Email: lizijie0419@163.com 2 Received: Dec. 5th, 2011; revised: Jan. 12th, 2012; accepted: Jan. 29th, 2012 Abstract: To reduce the computational complexity, route planning algorithms often use hierarchical planning strategy to deal with different constraints separately during the planning process. Hierarchical planning is divided into outer planning and inner planning. Inner planning is a local planning on the basis of outer planning. This paper proposes an improved particle swarm optimization algorithm for inner planning, introducing a variation factor into PSO algorithm. The improved algorithm designs a specific perturbation operator to enhance its search ability. The simulation results show that the improved method is more effective to get a satisfactory path in the same environment. It enhances the speed of the overall algorithm. Keywords: Route Planning; Hierarchical Planning; PSO; GA; Variability Factor 基于改进粒子群算法的航迹规划方法 李自杰，魏海光，周志鹏，周成平 1 1 2 1 1 华中科技大学图像识别与人工智能研究所，多谱信息处理技术实验室，武汉 2 江苏省自动化研究所，连云港 Email: lizijie0419@163.com 收稿日期：2011年 12月 5日；修回日期：2012年 1月 12日；录用日期：2012年 1月 29日 摘 要：为了降低航迹规划的计算复杂度，航迹规划算法时常采用分层规划策略，在规划过程中分开处理不同 性质的约束条件；分层规划包括外层规划和内层规划，内层规划是在外层规划的基础上进行的局部规划。本文 提出了一种用于内层规划的改进粒子群算法，在粒子群算法中引入变异因子，设计了特定的扰动算子，提高了 航迹寻优能力。仿真实验表明，在相同约束的规划环境中，改进方法较基本粒子群算法、基本遗传算法可以更 快搜索到满足条件的航迹，提高了整体算法的规划速度。 关键词：航迹规划；分层规划；粒子群