在确保移动机器人持续生存前提下,为了尽量减少机器人的能量消耗,通过定义一些基本运箅操作符的运算规则对粒子群算法进行改进,并提出基于动态能量阈值和改进粒子群算法的单机器人多充电站最优路径规划方法,来达到能耗最优.单充电站与多充电站情况下的仿真对比证明:该算法具有很好的寻优能力与收敛效率;在确保移动机器人持续生存的同时,两充电站情况下的能耗比单充电站的能耗平均降低7.03%.因此,在合适的位置增设充电站更有利于降低能耗.%In ensuring the continued survival of mobile robot, in order to minimize energy consumption, some operation rules of the basic operators were defined to improve particle swarm algorithm. A method based on dynamic energy threshold and improved particle swarm algorithm for single-robot and multi-charging station optimal path planning was presented to achieve near-optimal energy consumption. The simulation results in the case of single-charging station and multi-charging station show this method has a very good searching ability and convergence efficiency; ensuring the continued survival of mobile robots, energy consumption in the path planning in the case of two charging stations decreases 7.03％ than that of single-charging station. Therefore, increasing charging stations in the right place can reduce energy consumption.
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