| 基于改进遗传算法的移动机器人路径规划方法研究 |
| |
| 引用本文： | 郝博,秦丽娟,姜明洋. 基于改进遗传算法的移动机器人路径规划方法研究[J]. 计算机工程与科学, 2010, 32(7): 104-107. DOI: 10.3969/j.issn.1007130X.2010. |
| |
| 作者姓名： | 郝博 秦丽娟 姜明洋 |
| |
| 作者单位： | 1. 沈阳理工大学机械工程学院,辽宁,沈阳,110168
2. 沈阳理工大学信息科学与工程学院,辽宁,沈阳,110168 |
| |
| 基金项目： | 国家863计划资助项目，国家自然科学基金资助项目 |
| |
| 摘 要： | 路径规划是机器人技术研究领域中的核心问题。本文针对机器人路径规划问题,提出了基于遗传算法的解决方案。在遗传算子的设计中,通过加入自适应调整方法使得算法更加完善,解决进化过程中因陷入局部极小值而不能到达目标点的问题。最后,在模拟环境下进行路径规划仿真,验证了算法的有效性。
|
| 关 键 词： | 移动机器人 路径规划 遗传算法 |
| 收稿时间： | 2009-03-10 |
| 修稿时间： | 2009-06-19 |
Research on the Path Planning Methods for Mobile Robots Based on an Improved Genetic Algorithm |
| |
| HAO Bo,QIN Li-juan,JIANG Ming-yang. Research on the Path Planning Methods for Mobile Robots Based on an Improved Genetic Algorithm[J]. Computer Engineering & Science, 2010, 32(7): 104-107. DOI: 10.3969/j.issn.1007130X.2010. |
| |
| Authors: | HAO Bo QIN Li-juan JIANG Ming-yang |
| |
| Affiliation: | (1.School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110168;2.School of Information Science and Technology,Shenyang Ligong University,Shenyang 110168,China) |
| |
| Abstract: | Path planning is the kernel problem of the robot technology area.The paper presents a solution to the path planning problem of robots based on the genetic algorithm.In the design of genetic operators,a self adaptation method is also used to make the algorithm more perfect.Therefore,it solves the problem of being not able to reach the target because of being trapped in the local minimum.Finally,path planning is simulated at a simulated environment.It is proved that the algorithm is valid. |
| |
| Keywords: | mobile robot path planning genetic algorithm |
| 本文献已被 万方数据 等数据库收录！ |
| 点击此处可从《计算机工程与科学》浏览原始摘要信息 |
|
点击此处可从《计算机工程与科学》下载免费的PDF全文 |
|
