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Automatic path planning program generation system based on swarm intelligence results
- Chinese Journal of Intelligent Science and Technology Vol. 4, Issue 2, Pages: 255-263(2022)
- 作者机构：
1. 北京航空航天大学计算机学院，北京 100191
2. 北京航空航天大学人工智能研究院，北京 100191
- 作者简介：
- 基金信息：
DOI：10.11959/j.issn.2096-6652.202228
CLC： TP181-
Published Online：2022-06，
Published：15 June 2022
- 稿件说明：
移动端阅览
Yuqian WANG, Rong DING. Automatic path planning program generation system based on swarm intelligence results[J]. Chinese journal of intelligent science and technology, 2022, 4(2): 255-263.
Yuqian WANG, Rong DING. Automatic path planning program generation system based on swarm intelligence results[J]. Chinese journal of intelligent science and technology, 2022, 4(2): 255-263. DOI： 10.11959/j.issn.2096-6652.202228.
摘要
路径规划算法被广泛地应用于各种运动规划任务，如机器人运动、自动驾驶等。迄今为止，许多优秀的路径规划算法被提出并被应用于不同领域。对于一个特定的任务环境，选择合适的路径规划算法能更高效地规划出满足约束条件的较优路径。基于群体智能成果，以遗传编程算法为框架，研究快速扩展随机树（RRT）路径规划算法及其变种RRT-Star路径规划算法、RRT-Star-Smart路径规划算法在不同任务环境下的适应度及路径规划效率，设计出一个路径规划程序自动生成系统。该系统能自主分析当前环境地图特征，并结合 RRT 路径规划算法及其变种算法的特性，生成新的、更适配当前环境的路径规划算法。生成的路径规划算法能高效地规划出一条从起始点到目标点的可行路径。
Abstract
Path planning algorithms are widely used in various motion planning tasks
such as robot motion and autonomous driving.So far
many excellent path planning algorithms have been proposed for applications in different fields.For a specific task environment
choosing the appropriate path planning algorithm can plan a better path that satisfies the constraints more efficiently.Based on the results of swarm intelligence
the adaptability and path planning efficiency of rapidly-exploring random tree (RRT) path planning algorithm and its variants RRT-Star path planning algorithm and RRT-Star-Smart path planning algorithm under different task environments were studied.Using genetic programming algorithm as a framework to design a system
which could automatically analyze the map features of the current environment and combine the characteristics of RRT path planning algorithm and its variants to generate new path planning algorithms that were more suitable for the current environment.The generated path planning algorithm can efficiently plan a feasible path from the starting point to the target point.
关键词
Keywords
references
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