| 基于遗传算法的机器人路径规划 |
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| 引用本文： | 张颖,吴成东,于谦. 基于遗传算法的机器人路径规划[J]. 沈阳建筑工程学院学报(自然科学版), 2002, 18(4): 302-305 |
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| 作者姓名： | 张颖 吴成东 于谦 |
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| 作者单位： | [1]沈阳建筑工程学院自动控制系，辽宁沈阳110015 [2]辽宁CAD发展中心，辽宁沈阳110015 |
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| 基金项目： | 辽宁省自然科学基金项目 (0 0 2 1 0 7) |
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| 摘 要： | 采用栅格法表示机器人工作环境模型，用序号编码，直角坐标与序号混合应用，采用遗传算法产生初始路径种群，并对其优化找出最短路径，然后增加删除，插入算子达到路径规划中避障的要求。用MATLAB语言进行的仿真研究，仿真结果表明遗传算法进行避障和路径规划的有效性和可行性。
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| 关 键 词： | 遗传算法 机器人 路径规划 插入 删除算子 避障 |
| 文章编号： | 1671-2021(2002)04-0302-04 |
| 修稿时间： | 2002-06-26 |
Robot Motion Planning Based On Genetic Algorithms |
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| ZHANG Ying,WU Cheng dong. Robot Motion Planning Based On Genetic Algorithms[J]. Journal of Shenyang Archit Civil Eng Univ: Nat Sci, 2002, 18(4): 302-305 |
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| Authors: | ZHANG Ying WU Cheng dong |
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| Abstract: | The grids are used to express the two dimensional workspace with some obstacles in this paper.The method uses sequence number of grid with right angle coordinate to code for genetic algorithms,rather than the usual binary coding method.The initial chromosomes are generated by using a string of sequence numbers with the corresponding grids not continuous in space but free of obstacles.Increase operator and delete operator to dodge the barriers are presented.Simulation results using Matlab Toolbox show that the method is effective and feasible. |
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| Keywords: | robot motion planning genetic algorithms delete operator increase operator obstacles |
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