计算机工程与应用
計算機工程與應用
계산궤공정여응용
COMPUTER ENGINEERING AND APPLICATIONS
2010年
6期
221-223
,共3页
移动机器人%轨迹跟踪%控制规律%改进粒子群算法
移動機器人%軌跡跟蹤%控製規律%改進粒子群算法
이동궤기인%궤적근종%공제규률%개진입자군산법
mobile robot%tracking control%control rule%improved particle swarm optimization
建立了机器人运动学模型,设计了基于Lyaponov稳定理论的轨迹跟踪控制器,该控制器的性能取决于其参数的大小.粒子群优化算法具有收敛速度快,需要调节的参数少等优点,但优化过程中容易发生"早熟"收敛,使优化陷入局部极小值.通过引入模拟退火算法、"交叉算子"和"变异算子",提出了一种改进粒子群优化算法,对控制器的参数进行优化设计.最后,通过仿真计算,证明了该方法的有效性.
建立瞭機器人運動學模型,設計瞭基于Lyaponov穩定理論的軌跡跟蹤控製器,該控製器的性能取決于其參數的大小.粒子群優化算法具有收斂速度快,需要調節的參數少等優點,但優化過程中容易髮生"早熟"收斂,使優化陷入跼部極小值.通過引入模擬退火算法、"交扠算子"和"變異算子",提齣瞭一種改進粒子群優化算法,對控製器的參數進行優化設計.最後,通過倣真計算,證明瞭該方法的有效性.
건립료궤기인운동학모형,설계료기우Lyaponov은정이론적궤적근종공제기,해공제기적성능취결우기삼수적대소.입자군우화산법구유수렴속도쾌,수요조절적삼수소등우점,단우화과정중용역발생"조숙"수렴,사우화함입국부겁소치.통과인입모의퇴화산법、"교차산자"화"변이산자",제출료일충개진입자군우화산법,대공제기적삼수진행우화설계.최후,통과방진계산,증명료해방법적유효성.
Kinematic model of mobile robot and controller based on Lyaponov steady theory are formed.This controller's performance is depend on its parameters.Particle Swarm Optimization(PSO) has the advantage of fast convergence speed and few parameters to adjust,but premature convergence often occurs during optimization.SA,"intercross operator"and "aberrance operator" are combined to improve PSO's performance,a new Improved Particle Swarm Optimization(IPSO) is formed to optimize the controller's parameters.At last,simulation results are provided to illustrate the flexibility and correctness of the controller.
