| 基于遗传算法的多移动机器人协调路径规划 |
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| 引用本文： | 孙树栋,林茂.基于遗传算法的多移动机器人协调路径规划[J].自动化学报,2000,26(5):672-676. |
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| 作者姓名： | 孙树栋 林茂 |
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| 作者单位： | 1.西北工业大学制造工程系,西安 |
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| 基金项目： | 国家教委优秀青年教师基金资助项目.本文曾在第五届M2VIP年会(1998年)上宣读. |
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| 摘 要： | 采用链接图法建立了机器人工作空间模型;应用遗传算法规划多移动机器人运动路径;
引入适应值调整矩阵新概念,以达到对多移动机器人运动路径的全局优化;基于面向对象技术,研
制成功多移动机器人路径规划动态仿真系统.大量仿真实验结果表明,所提方法可行.
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| 关 键 词： | 路径规划 多机器人系统 遗传算法 优化 |
| 收稿时间： | 1998-12-24 |
| 修稿时间： | 1998年12月24 |
PATH PLANNING OF MULTI-MOBILE ROBOTS USING GENETIC ALGORITHMS |
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| Sun Shudong,Lin Mao.PATH PLANNING OF MULTI-MOBILE ROBOTS USING GENETIC ALGORITHMS[J].Acta Automatica Sinica,2000,26(5):672-676. |
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| Authors: | Sun Shudong Lin Mao |
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| Affiliation: | 1.Dept.of Aero-Manufacturing Eng.,Northwestern Polytechnical Univ.,Xi'an |
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| Abstract: | The paper presents a strategy for path planning of multi mobile robots using genetic algorithms (GAs). Obstacles in the 2D workspace of the multi mobile robots are simplified into convex polygons. The edges of the polygons are enlarged so that the size of the mobile robots can be scaled to points. MAKLINK Graph is used to model the workspace. Sequence numbers mark the cross points on the MAKLINK Graph. The sequence number is also used as a coding method for the chromosomes of GAs. Selecting randomly the cross points that connect the start point and the end one generates the initial population of the GAs. The length of the path is used as the corresponding fitness value of the chromosome. In order to avoid collision of any two mobile robots, a coordination matrix is put forward to decide the fitness values of the offspring. A simulation system is developed based on object oriented method. Simulation results show that the method is effective in path planning of multi mobile robots. |
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| Keywords: | Path planning multi mobile robots genetic algorithms (GAs) optimization |
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