基于免疫进化非选择机制的移动机器人路径规划算法-电子与信息学报.PDFVIP

第29 卷第8 期 电 子 与 信 息 学 报 Vol.29No.8 2007 年8 月 Journal of Electronics Information Technology Aug. .2007 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 (中国科学技术大学计算机科学技术系 合肥 230027) 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。 关键词：移动机器人；人工免疫；进化非选择；动态环境；路径规划 中图分类号：TP242 文献标识码：A 文章编号：1009-5896(2007)08-1987-05 Research of Mobile Robots Path Planning Algorithm Based on Immune Evolutionary Negative Selection Mechanism Zhang Ze-ming Luo Wen-jian Wang Xu-fa (Department of Computer Science and Technology, University of Science and Technology of China, Hefei 230027, China) 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 algorithm’s convergence. Furthermore, MRPPA-IENS adopts the gene rearrangement operator to maintain the population’s 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 dynam