基于粒子群优化的多路径规划方法研究

摘要

Based on the idea of genetic algorithm to solve the multi-modal function optimization,research of multi-path planning method based on particle swarm optimization has been carried out. Basic idea and algorithm flow of multi-path planning algorithm were given, methods of particle swarm diversified and evolution strategy of multi-population segregation were discussed, and simulation experiments aimed at multiple simulation environments were performed. Simulation result shows, multi-path planning algorithm in this article can make environment division aimed at different environmental models and plan multiple motion paths rightly and efficiently.%借鉴遗传算法求解多峰函数优化问题的思想,开展了基于粒子群优化的多路径规划方法研究.给出了多路径规划算法的基本思想和算法流程,讨论了算法中粒子群的多样化方法以及多种群的隔离进化策略,并针对多个仿真环境进行了仿真实验.仿真结果表明,本文设计的多路径规划算法能针对不同的环境模型进行环境划分,正确、有效地规划出多条运动路径.