A Rough Set GA-based Hybrid Method for Robot Path Planning

In this paper, a hybrid method based on rough sets and genetic algorithms, is proposed to improve the speed of robot path planning. Decision rules are obtained using rough set theory. A series of available paths are produced by training obtained minimal decision rules. Path populations axe optimised by using genetic algorithms until the best path is obtained. Experiment results show that this hybrid method is capable of improving robot path planning speed.     

动态环境中基于遗传算法的移动机器人路径规划的方法

动态环境中，移动机器人的动态路径规划是一个较难解决的课题．本文提出一种 基于遗传算法的移动机器人的路径规划方法．该方法采用实数编码的方法，有明确物理意义 的适应度函数，以加快实时的运算速度和提高运算精度．该方法充分挖掘可应用遗传算法解 决移动机器人动态路径规划的潜力．通过计算机仿真表明该控制方法具有良好的动态路径规 划能力．     

自适应遗传算法在机器人路径规划的应用

针对现有遗传算法在求解机器人路径规划存在的收敛速度慢、易陷入局部最优等缺点,提出一种基于自适应遗传算法的机器人路径规划方法。该方法引入逆转算子,增加插入算子和删除算子,提出新的自适应策略对交叉和变异概率进行调整,更好地避免陷入局部最优,提高算法寻优效率。该算法在MATLAB和Inte3D平台中进行算例验证,实验结果表明改进的自适应遗传算法比现有遗传算法更为有效。     

二次划分和改进遗传算法的机器人路径规划

针对已有基于遗传算法的机器人路径规划的栅格建模方法粒度难以控制及种群初始化等方面的不足,提出了根据障碍物启发信息对环境二次划分的方法,以使得种群染色体长度具有自适应环境的特点,从而有效地提高算法的优化效率和性能,同时,提出了基于保险矩阵初始化种群新方法,可提高初始种群在搜索空间的遍历性和有效性。仿真实验结果表明：应用该算法,机器人可在具有复杂障碍物的环境中快速规划出一条全局优化路径,且能安全避障,效果显著。     

Heuristic approaches in robot path planning: A survey

Autonomous navigation of a robot is a promising research domain due to its extensive applications. The navigation consists of four essential requirements known as perception, localization, cognition and path planning, and motion control in which path planning is the most important and interesting part. The proposed path planning techniques are classified into two main categories: classical methods and heuristic methods. The classical methods consist of cell decomposition, potential field method, subgoal network and road map. The approaches are simple; however, they commonly consume expensive computation and may possibly fail when the robot confronts with uncertainty. This survey concentrates on heuristic-based algorithms in robot path planning which are comprised of neural network, fuzzy logic, nature-inspired algorithms and hybrid algorithms. In addition, potential field method is also considered due to the good results. The strengths and drawbacks of each algorithm are discussed and future outline is provided.     

A 3-level autonomous mobile robot navigation system designed by using reasoning/search approaches

This paper describes how soft computing methodologies such as fuzzy logic, genetic algorithms and the Dempster–Shafer theory of evidence can be applied in a mobile robot navigation system. The navigation system that is considered has three navigation subsystems. The lower-level subsystem deals with the control of linear and angular volocities using a multivariable PI controller described with a full matrix. The position control of the mobile robot is at a medium level and is nonlinear. The nonlinear control design is implemented by a backstepping algorithm whose parameters are adjusted by a genetic algorithm. We propose a new extension of the controller mentioned, in order to rapidly decrease the control torques needed to achieve the desired position and orientation of the mobile robot. The high-level subsystem uses fuzzy logic and the Dempster–Shafer evidence theory to design a fusion of sensor data, map building, and path planning tasks. The fuzzy/evidence navigation based on the building of a local map, represented as an occupancy grid, with the time update is proven to be suitable for real-time applications. The path planning algorithm is based on a modified potential field method. In this algorithm, the fuzzy rules for selecting the relevant obstacles for robot motion are introduced. Also, suitable steps are taken to pull the robot out of the local minima. Particular attention is paid to detection of the robot’s trapped state and its avoidance. One of the main issues in this paper is to reduce the complexity of planning algorithms and minimize the cost of the search. The performance of the proposed system is investigated using a dynamic model of a mobile robot. Simulation results show a good quality of position tracking capabilities and obstacle avoidance behavior of the mobile robot.     

基于路径预测的机器人足球路径规划

针对常用的机器人路径规划算法过于复杂并且在每个运动周期都计算路径的问题,提出了一种结合路径预测的路径最优算法.充分利用预测结果减少每周期的路径规划时间;用微量调整动态控制机器人左右轮速度,并充分利用折线路径的短距离优势,为避障机器人创建一条最短路径;以基于周期性预测在同个时间轴上的相交作为碰撞信号,来减少每个周期的重复性计算时间.实验结果表明,该方法能大大提高机器人路径规划的速度,降低不同周期上路径规划结果不一致导致的运动震荡.     

复杂环境中煤矿智能机器人巡检路径动态规划

在复杂开采环境下,煤矿智能机器人往往出现移动路径规划不准确、规划效率低和规划延迟等问题.因此,提出了一种巡检路径的动态规划算法,并对传统的动态窗口算法进行了改进.将智能机器人的移速限制空间转换成二维坐标空间,通过膜间通信及内部粒子更新规则来更新粒子,使机器人以最优速度、最佳路径进行巡检.仿真结果表明,这种算法优化了机器...     

改进遗传算法与领航跟随法的机器人编队方法

针对传统遗传算法在求解机器人路径规划问题时存在的收敛速度慢、路径不平滑问题,对其进行了改进,在适应度函数中加入了路径平滑度因素,选择操作时平滑度较好的路径更容易被选中。在种群选择时将最优个体直接复制到下一代,有效地保留了父代优良基因。在领航机器人规划路径阶段,使用改进的遗传算法为领航机器人规划出一条安全无碰撞且平滑度较好的最优路径。在跟随机器人跟随阶段,使用领航跟随法控制每一个跟随机器人使其与领航者保持特定的距离与角度,从而形成设定的队形。最后通过MATLAB软件建立栅格地图进行仿真,验证了该算法的可行性,与传统遗传算法相比,改进遗传算法收敛速度更快,且路径更加平滑。     

The path and location planning of workpieces by genetic algorithms

This paper presents the planning of a near-optimum path and location of a workpiece by genetic algorithms. The purpose of this planning is to minimize the processing time required for a robot to complete its work on a workpiece. The location of the workpiece can be anywhere by translating it along any direction and by rotating it about the fixedz-axis of the robot coordinate system. Owing to the changeable location of the workpiece and the alterable motion time required for a robot to move between two workpoints, the path and location planning problem is much more complicated than the travelling salesman problem. It is definitely impossible to obtain an optimum path and location within an acceptable time. In this paper, genetic algorithms are applied to solve this problem. The location of the workpiece is defined by three position parameters and one angular parameter, and the path is determined based on the values of the parameters for all workpoints. All the path and location parameters are encoded into a binary string. They are modified simultaneously by genetic algorithms to search for a global solution. As the workpiece can be anywhere, a penalty function is used to prevent the selection of illegal paths. Two experiments are given to show the performance of genetic algorithms: one has 30 workpoints and the other has 50 workpoints. Compared with four human-generated plannings, planning by genetic algorithms has much better performance in minimizing the processing time.     

基于量子遗传算法的移动机器人的一种路径规划方法

以人工势场法和栅格法为基础,考虑到遗传算法的“收敛速度慢”和“早熟收敛”问题,提出了一种基于量子遗传算法的机器人路径规划方法。该方法采用栅格法进行路径规划,利用人工势场法控制移动机器人,利用量子遗传算法选择最优或次优个体,并且引入双适应度评价函数评价进化个体,为最优或次优个体进入下一代提供了保障。仿真实验表明,该方法的寻优能力及稳定性均优于遗传算法和量子遗传算法,且具有更好的收敛性以及更强的连续空间搜索能力,适于求解复杂优化问题。     

基于改进PSO算法的移动机器人路径规划

针对粒子群优化(PSO)算法收敛速度快但容易陷入局部极值和细菌觅食优化(BFO)算法全局搜索能力强但效率低的问题,提出了一种将BFO算法的趋化、迁徙和复制操作引入到粒子群搜索过程的具有全局搜索能力和快速收敛的混合算法.在BFO算法和PSO算法的原理、操作步骤基础上,分别使用了PSO算法、BFO法和混合算法对移动机器人进行全局路径规划仿真试验,并分别给出了各算法的迭代次数、适应值曲线.仿真结果表明:与PSO算法和BFO算法相比,所提出的混合算法具有搜索时间短、迭代次数少的优点,较好验证了混合算法在移动机器人路径规划方面的可行性和有效性.     

基于混合遗传算法的工业机器人最优轨迹规划

为兼顾工业机器人工作效率与轨迹的平稳性,提出一种基于混合遗传算法的二次轨迹规划方案.通过最优时间轨迹规划得到最小执行时间,在最小执行时间内进行最优冲击轨迹规划,进而规划出一条既高效又平滑的运动轨迹.采用五次均匀B样条在关节空间进行快速插值,不仅保证了各关节速度和加速度连续性还保证了各关节冲击的连续性.连续平滑的冲击可以减少机械振动,延长机器人的工作寿命.选用PUMA560为对象进行仿真与实验,结果表明,该方案可以获得比较理想的机器人运动轨迹,所提出的混合遗传算法能有效提高全局寻优的性能和算法运行的稳定性.     

面向机器人全局路径规划的改进蚁群算法研究

针对基本蚁群算法在机器人路径规划过程中路径转弯角度过大、易陷入局部极小值、收敛速度慢等问题,对其进行改进。在分析机器人路径规划环境建模方法基础上,将转角启发函数引入至节点选择概率公式,以增强路径选择指向性,提高算法搜索速度;通过引入当前节点与下一节点之间的距离和下一节点与目标节点距离之和的二次方对启发函数进行改进,使得算法搜索过程更有针对性,并降低陷入局部极小值概率;提出信息素挥发因子自适应更新策略,扩大算法搜索范围,提高收敛速度;利用遗传算法的交叉操作对移动路径进行二次优化,以增强算法的寻优能力,进而以Floyd算法为基础引入路径平滑操作,减少移动路径节点。在MATLAB中与其他算法通过求解多个单模测试函数与多模测试函数进行对比,并在栅格法环境建模中进行机器人全局路径规划仿真对比实验,以验证改进算法在路径寻优速度和质量上更具优越性。仿真结果表明,改进后的蚁群算法具有一定的可行性和有效性。     

基于混合策略的轮式机器入路径规划方法

快速扩展随机树方法（R RT）是解决具有非完整性约束的轮式机器人路径规划问题的一种有效途径。R RT能够在规划过程中引入机器人动力学约束,但是当环境中存在大量障碍物时,R RT算法的路径搜索效率将会降低。另一方面,R RT算法不具有最优性,限制了其在轮式机器人路径规划中的应用。针对经典R RT算法的不足,提出一种混合的路径规划策略,首先通过路径导引点扩展多树R RT结构,利用多树R RT的局部探索与合并特性快速寻找可通行的区域范围,利用启发式搜索算法在可通行区域内快速寻找动力学可行的机器人运动轨迹。仿真与实车实验表明,该方法能够快速有效地解决复杂障碍物环境下的机器人路径规划问题。     

基于混沌遗传算法的机器人路径规划方法研究

针对机器人路径规划中,应用遗传算法时容易陷入局部最优解以及收敛速度较慢等问题,设计出一种基于混沌遗传算法的路径规划方法。在基本遗传算法的基础上采用自适应调整的选择概率,并引入混沌操作,从而增强移动机器人路径规划算法的鲁棒性,解决一般遗传算法的早熟和收敛速度慢问题。经MATLAB仿真,证明该方法具有良好的避障性能。     

工业机器人运动规划研究进展

由于工业机器人构型空间和工作环境的复杂性,传统运动规划算法难以在有限时间内进行路径求解,如何提高算法的规划效率与最优性成为研究热点。本文跟踪目前工业机器人运动规划算法的发展现状,针对主流随机采样算法的原理与发展脉络进行了细致分析与总结。在此基础上,详细阐述了基于强化学习的随机采样算法,该方法引入了规划学习机制,在保证求解速度的同时,还能不断提高求解质量。同时对当前运动规划算法存在的一些不足提出了建议与展望。     

Sensor-based path planning for nonholonomic mobile robots subject to dynamic constraints

It is generally not easy to achieve smooth path planning in an unknown environment for nonholonomic mobile robots, which are subject to various robot constraints. In this paper, a hybrid approach is proposed for smooth path planning with global convergence for differential drive nonholonomic robots. We first investigate the use of a polar polynomial curve (PPC) to produce a path changing continuously in curvature and satisfying dynamic constraints. In order to achieve path generation in real-time, a computationally effective method is proposed for collision test of the complex curve. Then, a hybrid path planning approach is presented to guide the robot to move forward along the boundary of an obstacle of arbitrary shape, by generating a proper “Instant Goal” (and a series of deliberate motions through PPC curve based path generation) and planning reactively when needed using a fuzzy controller for wall following. The choice of an Instant Goal is limited to the set of candidates that are practically reachable by the robot and that enable the robot to continue following the obstacle. The effectiveness of the proposed approach is verified by simulation experiments.     

移动机器人路径规划算法的研究综述

路径规划是移动机器人的热门研究之一,是实现机器人自主导航的关键技术。针对移动机器人路径规划的算法进行研究,以了解不同条件下路径规划算法的发展与应用,系统性地总结了路径规划的研究现状和发展。针对移动机器人路径规划的特点,将其划分为智能搜索算法、基于人工智能算法、基于几何模型算法和用于局部避障算法。基于上述分类,介绍了近年来具有代表性的研究成果,重点分析各类规划算法的优缺点,对移动机器人路径规划的未来发展趋势进行展望,为移动机器人路径规划研究提供一定的思路。     

Velocity planning for a mobile robot to track a moving target — a potential field approach

Potential field method has been widely used for mobile robot path planning, but mostly in a static environment where the target and the obstacles are stationary. The path planning result is normally the direction of the robot motion. In this paper, the potential field method is applied for both path and speed planning, or the velocity planning, for a mobile robot in a dynamic environment where the target and the obstacles are moving. The robot’s planned velocity is determined by relative velocities as well as relative positions among robot, obstacles and targets. The implementation factors such as maximum linear and angular speed of the robot are also considered. The proposed approach guarantees that the robot tracks the moving target while avoiding moving obstacles. Simulation studies are provided to verify the effectiveness of the proposed approach.