基于改进和声搜索算法的移动机器人调度
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河南工业大学

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TP242.6

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国家自然科学(62201199);河南工业大学自科创新基金支持计划项目(2021ZKCJ07)


Mobile robot scheduling based on improved harmony search algorithm
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Henan University of Technology

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    摘要:

    为了提高药物管理系统中移动机器人集群调度的速度和精度,建立一种以移动机器人为载体的集群调度模型,并采用离散-连续双映射编码方式进行调度编码。为了提高调度算法解算性能,提出一种融合最优估计优化方法的改进和声搜索算法(IKHS),结合最优迭代和有向搜索进行调度最优搜索,提高算法的计算速度和精度;根据全局最优和声进行自适应带宽调整和全随机交叉变异,扩大算法搜索范围和样本多样性,提高算法搜索和计算全局最优解的能力;同时,使用标准测试函数进行改进算法在连续区间上的验证,效果良好。对比试验结果表明,同一测试条件下,改进算法和对照算法相比具有更加优异的最优解搜索能力,调度结果精确度均有不同程度提高。可见,改进和声算法(IKHS)对于优化自动药物系统调度系统性能具备良好的效果。

    Abstract:

    In order to enhance the speed and accuracy of cluster scheduling for mobile robots in the medication management system, a cluster scheduling model is established using mobile robots as carriers. The scheduling coding adopts a discrete-continuous dual-mapping encoding method. In order to enhance the computational performance of the scheduling algorithm, an improved Harmony Search algorithm (IKHS) is proposed, which integrates the optimal estimation optimization method. The algorithm combines optimal iteration and directed search for optimal scheduling search, thereby improving the computational speed and accuracy of the algorithm. Adaptive bandwidth adjustment and global random crossover mutation are performed based on the global optimum and harmony, expanding the algorithm's search range and sample diversity, thereby enhancing the algorithm's ability to search and compute the global optimal solution. Furthermore, the improved algorithm is validated on continuous intervals using standard test functions, yielding favorable results. Through comparative experiments, it is demonstrated that, under identical test conditions, the improved algorithm in this paper exhibits superior capability in searching for optimal solutions compared to the control algorithm, resulting in varying degrees of improvement in the accuracy of scheduling results. It is evident that the improved Harmony Algorithm (IKHS) effectively optimizes the performance of the automatic medication system scheduling system.

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刘忠璞,刘建娟,姬淼鑫,等. 基于改进和声搜索算法的移动机器人调度[J]. 科学技术与工程, , ():

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  • 收稿日期:2023-06-19
  • 最后修改日期:2023-10-23
  • 录用日期:2023-10-26
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