[1]徐丁,朱擎飞,叶晓东.遗传算法在移动机器人路径规划中的应用[J].计算机技术与发展,2013,(11):112-115.
　XU Ding,ZHU Qing-fei,YE Xiao-dong.Application of Genetic Algorithm in Mobile Robot Path Planning[J].,2013,(11):112-115.
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遗传算法在移动机器人路径规划中的应用()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2013年11期
页码:
112-115
栏目:
智能、算法、系统工程
出版日期:
1900-01-01

文章信息/Info

Title:
Application of Genetic Algorithm in Mobile Robot Path Planning
文章编号:
1673-629X（2013）11-0112-04
作者:
徐丁; 朱擎飞; 叶晓东
常州先进制造技术研究所
Author(s):
XU Ding; ZHU Qing-fei; YE Xiao-dong
关键词:
移动机器人; 路径规划; 遗传算法; 静态环境
Keywords:
mobile robot; path planning; GA (Genetic Algorithm); static environment
文献标志码:
A
摘要:
移动机器人的路径规划是机器人研究的重要领域。文中旨在研究遗传算法对于机器人路径规划问题的适用性。对于路径规划的目标，提出了基于路径长度、路径平滑度和路径安全度等因素综合衡量的方法，并在传统的遗传算法的交叉、变异操作的基础上，针对路径规划问题的特点，增加了捷径寻找、障碍避让、平滑优化等方法。实验表明，此算法在存在形状复杂的障碍物的静态环境中表现良好，其效率与准确性皆满足机器人路径规划的要求
Abstract:
Path planning is an important subject in mobile robot research area. It aims to verify the feasibility of genetic algorithm towards mobile robot path planning problem. The goal of path planning is measured by the combination of path length,path smoothness and path safety. Besides traditional operators of crossover and mutation in genetic algorithm,there are additional methods such as shortcut seeking, obstacle avoidance and smoothness optimization. Through experiments,the algorithm performs well in static environment with obstacles in complex shapes and its efficiency and accuracy satisfies the requirements of the problem

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更新日期/Last Update: 1900-01-01