مسیریابی ربات با استفاده از الگوریتم انتخاب کلونال
الموضوعات :
سید علی دانش نیا
1
,
شهرام گلزاري
2
,
عباس حریفی
3
,
عباسعلی رضائی
4
1 - دانشگاه پیام نور مرکز قشم
2 - دانشگاه هرمزگان
3 - دانشگاه هرمزگان
4 - دانشگاه پیام نور تهران
الکلمات المفتاحية: ربات سیارالگوریتم انتخاب کلونالطرح‌ریزی مسیرمسیریابی,
ملخص المقالة :
مسیریابی ربات یکی از موضوعات مهم در مبحث رباتیک سیار است. هدف، پیداکردن یک مسیر پیوسته از یک موقعیت اولیه به یک مقصد نهایی است به طوری که عاری از برخورد بوده و بهینه یا نزدیک به بهینه نیز باشد. از آنجایی که مسئله مسیریابی ربات از نوع مسایل بهینه‌سازی است، می‌توان از الگوریتم‌های تکاملی برای حل این مسئله استفاده نمود. امروزه الگوریتم انتخاب کلونال به علت داشتن ویژگی‌های محاسباتی ارزنده به دفعات برای حل مسایل مورد استفاده قرار گرفته است، اما در زمینه استفاده از این روش برای حل مسئله مسیریابی ربات تلاش‌های بسیار کمی انجام شده است. اندک تلاش‌های انجام‌گرفته نیز در واقع نوعی الگوریتم ژنتیک بهبودیافته می‌باشند. در این پژوهش با بهره‌گیری از تمام ویژگی‌های الگوریتم کلونال روشی کارا برای مسیریابی ربات در حضور موانع طراحی شده است. روش ارائه‌شده در محیط‌های متنوع و با اجراهای مختلف از نظر معیارهای طول مسیر پیشنهادی و تعداد نسل‌های لازم برای تولید مسیر مورد ارزیابی قرار می‌گیرد. بر اساس نتایج حاصل از آزمایش‌های متعدد، روش ارائه‌شده عملکرد بهتری نسبت به الگوریتم ژنتیک در تمامی محیط‌ها و همه پارامترهای ارزیابی از خود نشان می‌دهد. به‌خصوص با افزایش تعداد رئوس موانع و نیز موانع مقعر، روش پیشنهادی عملکرد بسیار بهینه‌تری در مقایسه با الگوریتم ژنتیک از خود نشان می‌دهد. همچنین مقایسه عملکرد روش پیشنهادی با الگوریتم ترکیبی جغرافیای زیستی-ازدحام ذرات بیانگر برتری الگوریتم مسیریابی مبتنی بر انتخاب کلونال هست.
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