Path planning for robot based on immune evolution and chaotic mutation

DING Wei1; YOU Bo1; FENG Xian-bin2

doi:10.13873/j.1000-97872007.06.031

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Path planning for robot based on immune evolution and chaotic mutation

更新时间：2025-09-11

- Path planning for robot based on immune evolution and chaotic mutation
- Issue 6, Pages: 45-47+50(2007)
- 作者机构：
  
  1. 哈尔滨理工大学自动化学院
  2. 牡丹江师范学院计算机科学与技术系
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872007.06.031
  CLC： TP242
- Published：2007
- 稿件说明：
移动端阅览
[1]丁伟,尤波,冯宪彬.基于免疫进化与混沌变异的机器人路径规划[J].传感器与微系统,2007(06):45-47+50.

DING Wei1, YOU Bo1, FENG Xian-bin2. Path planning for robot based on immune evolution and chaotic mutation[J]. 2007, (6): 45-47+50.
[1]丁伟,尤波,冯宪彬.基于免疫进化与混沌变异的机器人路径规划[J].传感器与微系统,2007(06):45-47+50. DOI： 10.13873/j.1000-97872007.06.031.

DING Wei1, YOU Bo1, FENG Xian-bin2. Path planning for robot based on immune evolution and chaotic mutation[J]. 2007, (6): 45-47+50. DOI： 10.13873/j.1000-97872007.06.031.

摘要

针对传统进化算法的"早熟收敛"和"收敛速度慢"两大致命缺点

在分析了导致以上缺点原因的基础上

提出了一种基于人工免疫与混沌变异的双群进化算法。在该算法中

进化在2个子群间同时进行

一个种群使用混沌变异算子对解空间进行充分搜索

另一个种群使用指数衰减的高斯算子进行局部搜索

较快速地规划出性能是全局优化的可行路径。测试结果表明:该算法是可行的。

Abstract

Prematurely and low convergent speed is the two fatal shortcoming of traditional evolution algorithm.Based on the shortcoming analysis above all

a bi-group evolutionary algorithm based on artificial immune and chaotic mutation is proposed.In this algorithm

evolutions of subgroups are parallelly performed with different mutation strategy.One of the subgroups takes chaotic mutation operator to explore the solution spare separately

and the other subgroup searches the local part detailedly using exponential decrescent operator.This algorithm can quickly plan global-optimal path.It is proved by the results of the test

this algorithm is feasible.

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references

一种基于混沌变异的双群进化规划算法 [J]. 张永辉,吴问鲍,王向军,张民. 计算机仿真 . 2005(12)

基于粒群行为与克隆的移动机器人进化路径规划 [J]. 李枚毅,蔡自兴. 中南大学学报(自然科学版) . 2005(05)

基于遗传算法的移动机器人的一种路径规划方法 [J]. 王强,姚进,王进戈. 哈尔滨工业大学学报 . 2004(07)

基于免疫原理的进化算法 [J]. 罗印升,李人厚. 控制与决策 . 2004(02)

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