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纯粹的反应式导航算法在复杂未知环境下易陷入局部极小,为此提出一种基于局部子目标和禁忌搜索的自主导航算法.以当前可视区域内障碍物的关键角点为搜索邻域,利用禁忌搜索算法执行优化操作生成当前子目标,进而采用反应式导航算法对其进行跟踪,最终通过子目标的动态切换引导机器人驶达目标位置.算法可有效克服局部极小,显著提高机器人在复杂环境下的自主性.理论分析和仿真实验验证了算法的可行性和有效性.
The pure reactive navigation algorithm is easy to fall into local minima in the complex unknown environment, so an autonomous navigation algorithm based on local sub-targets and tabu search is proposed.Taking the key corner of the obstacle in the current visual area as the search neighborhood , Which uses the tabu search algorithm to perform the optimization operation to generate the current sub-target, and then uses the reactive navigation algorithm to track it, and finally guides the robot to reach the target position through the dynamic switching of the sub-targets.The algorithm can effectively overcome the local minima, The autonomy of the complex environment.The theoretical analysis and simulation experiments verify the feasibility and effectiveness of the algorithm.