[1]PU Xingcheng,ZHAO Hongquan,ZHANG Yi.Mobile robot path planning research based on bacterial chemotaxis[J].CAAI Transactions on Intelligent Systems,2014,9(1):69-75.[doi:10.3969/j.issn.1673-4785.201305050]
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Mobile robot path planning research based on bacterial chemotaxis
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
9
Number of periods:
2014 1
Page number:
69-75
Column:
学术论文—智能系统
Public date:
2014-02-25
- Title:
- Mobile robot path planning research based on bacterial chemotaxis
- Keywords:
- robot; bacterial chemotaxis; Gaussian potential environment model; obstacle avoidance; path planning
- CLC:
- TP24
- DOI:
- 10.3969/j.issn.1673-4785.201305050
- Abstract:
- In order to solve the problem of mobile robot path planning, this paper puts forward a method of mobile robot path planning based on bacterial chemotaxis. Simulating the bacterial foraging environment, this method builds similar obstacle contours and the target contour models. Through setting some tendency and obstacle weight and combining intelligent robot sensing technology, it can offer relative sports strategy for mobile robots under simple or even complex environments and thus utilizes real-time navigation. By using this method in the Gaussian potential environment, the robot can not only find its path, but it can also adjust its position and attitude under complicated environments as compared with the Sierakowski method, and the experimental results show that this method can get a better path with security, real-time performance and flatness.
- References:
-
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[5] BREMERMANN H J. Chemotaxis and optimization[J]. Journal of The Franklin Institute, 1974, 297(5): 397-404.
[6] MULLER S D, AIRAGHI J, MARCHETTO S, et al. Optimization based on bacterial chemotaxis[J]. IEEE Transactions on Evolutionary Computation, 2002, 6(1): 16-29.
[7] DHARIWAL A, SUKHATME G, REQUICHA A G. Bacterium-inspired robots for environmental monitorng[C]//Proceedings of the 2006 IEEE International Conference on Robotics and Automation. New Orleans, USA, 2004: 1436-1443.
[8] COELHO L D S, SIERAKOWSKI C A. Bacteria colony approaches with variable velocity applied to path optimization of mobile robots[C]//ABCM Symposium Series in Mechatronics. Rio de Janeiro, Brazil: ABCM, 2006, 2: 297-304.
[9] SIERAKOWSKI C A, COELHO L S. Study of two swarm intelligence techniques for path planning of mobile robots[C]//Proceedings of the 16th IFAC World Congress. Prague, Czech Republic, 2005: 1-6.
[10] SIERAKOWSKI C A, COELHO L S. Path planning optimization for mobile robots based on bacteria colony approach[J]. Advances in Soft Computing, 2006, 34: 187-198.
[11] 蒲兴成,张军,张毅.基于时变适应度函数的改进粒子群算法及其在移动机器人路径规划中的应用[J].计算机应用研究, 2011, 27(12): 4454-4456, 4463.PU Xingcheng, ZHANG Jun, ZHANG Yi. Path planning method for mobile robot based on particle swarm optimization with time-varying fitness function[J]. Application Research of Computers, 2010, 27(12): 4454-4456, 4463.
[12] 蒲兴成,赵红全,张毅.基于改进细菌趋化步长的移动机器人路径规划方法研究[J].山东科技大学学报:自然科学版, 2012, 31(4): 56-62.PU Xingcheng, ZHAO Hongquan, ZHANG Yi. Mobile robot path planning based on bacterial chemotaxis step[J]. Journal of Shandong University of Science and Technology: Natural Science, 2012, 31(4): 56-62.
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Last Update:
1900-01-01