| 基于移动机器人拖车系统的最优路径规划设计 |
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| 引用本文： | 罗霄华,王思伟.基于移动机器人拖车系统的最优路径规划设计[J].山西电子技术,2013(6):33-34. |
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| 作者姓名： | 罗霄华 王思伟 |
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| 作者单位： | 太原理工大学信息工程学院,山西太原030024 |
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| 摘 要： | 针对移动型机器人拖车系统进行了关于其路径规划问题的讨论。由于该拖车所搭载的感应设备可以实现探测“有兴趣的点”——即地下金属物，因此需要设计出一条最短路径来实现最优化。本文将该课题类比为“旅行商”问题，提出了遗传算法使其可以很好地解决该问题，并且均适用于在高密度分布以及少量点分布这两种情形。
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| 关 键 词： | 移动型机器人拖车 路径规划 旅行商问题 遗传算法 |
The Optimal Path Planning Based on Mobile Robot Trailer System |
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| Luo Xiaohua,Wang Siwei.The Optimal Path Planning Based on Mobile Robot Trailer System[J].Shanxi Electronic Technology,2013(6):33-34. |
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| Authors: | Luo Xiaohua Wang Siwei |
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| Affiliation: | (College of Information Engineering, Taiyuan University of Technology, Taiyuan Shanxi 030024, China) |
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| Abstract: | In this paper, it discusses a path planning problem of the mobile robot -trailer system. The trailer equipped with sens- ing equipments is used to perform a surveillance mission among several ＂interested waypoints＂ that is the metallic item buried under the ground＂. An algorithm is designed to find the shortest path for the problem and the performance is evaluated in numerical study. The article treats this problem as ＂Travelling Salesman Problem＂. The proposed genetic algorithm can perform very well in both ]ow way- point density and high waypoint density situations. |
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| Keywords: | mobile robot- trailer path planning travelling salesman problem genetic algorithm |
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