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电子学报  2013 

基于多微粒群优化的机器人气味源定位

DOI: 10.3969/j.issn.0372-2112.2013.10.021, PP. 2000-2009

Keywords: 气味源定位,机器人,微粒群优化,子群合并,适应值调整

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Abstract:

研究多气味源同时定位问题,提出一种基于多微粒群优化的机器人气味源定位方法.该方法将机器人看作一个微粒,邻近的微粒组成一个子群,不同的子群定位不同的气味源.通过合并相似的子群和降低微粒在已搜索区域的适应值,使得微粒群定位尽可能多的气味源.当气味源所在环境变化时,根据子群当代极值与前代全局极值之间的关系,选择子群的全局极值.将所提方法应用于3个典型静态环境与1个动态环境的气味源定位,并与5种已有方法比较.实验结果表明,所提方法能够高效地定位多气味源.

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