基于群体智能成果的路径规划程序自动生成系统

王雨倩; 丁嵘

doi:10.11959/j.issn.2096-6652.202228

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基于群体智能成果的路径规划程序自动生成系统

学术论文 | 更新时间：2024-06-05

- 基于群体智能成果的路径规划程序自动生成系统
- Automatic path planning program generation system based on swarm intelligence results
- 智能科学与技术学报 2022年4卷第2期页码：255-263
- 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：
  
  [ "王雨倩（1999− ），女，北京航空航天大学计算机学院硕士生，主要研究方向为无人系统智能算法" ]
  [ "丁嵘（1975− ），男，博士，北京航空航天大学人工智能研究院博士生导师，主要研究方向为软件工程、自主无人系统、群体智能等" ]
- 基金信息：
  
  国家重点研发计划资助项目;The National Key Research and Development Program of China(2017YFB1001802)
- DOI：10.11959/j.issn.2096-6652.202228
  中图分类号： TP181
- 网络出版日期：2022-06，
  
  纸质出版日期：2022-06-15
- 稿件说明：
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王雨倩, 丁嵘. 基于群体智能成果的路径规划程序自动生成系统[J]. 智能科学与技术学报, 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.
王雨倩, 丁嵘. 基于群体智能成果的路径规划程序自动生成系统[J]. 智能科学与技术学报, 2022,4(2):255-263. DOI： 10.11959/j.issn.2096-6652.202228.

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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