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提出一种适用于移动机器人避障路径规划的混合优化算法。首先介绍细菌觅食算法的三大基本操作:趋向性、复制、迁徙操作,建立细菌觅食算法流程;其次建立蚁群算法模型;然后分析细菌觅食算法和蚁群算法的优缺点,提出一种具有较强全局搜索能力和快速收敛的混合算法模型;最后将该算法用于灭火机器人在国际赛制灭火机器人环境中寻找火源。仿真结果表明该混合算法比基本蚁群算法能够以较快的速度和较短的路径找到目标位置,最后将该算法用于实验中,证明了该方法的可行性和有效性。
A hybrid optimization algorithm is proposed for obstacle avoidance path planning of mobile robots. First of all, we introduce three basic operations of bacterial foraging algorithm: orientation, replication and migration, and establish the process of bacterial foraging algorithm. Secondly, we establish the ant colony algorithm model. Then we analyze the advantages and disadvantages of foraging algorithm and ant colony algorithm A hybrid algorithm model with strong global search ability and fast convergence is proposed. At last, the algorithm is applied to fire fighting robots looking for fire source in the international competition fire fighting robot environment. The simulation results show that the hybrid algorithm can find the target position faster than the basic ant colony algorithm and with a shorter path. Finally, the algorithm is used in the experiment, which proves the feasibility and effectiveness of the proposed method.