共查询到18条相似文献,搜索用时 109 毫秒
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动态二叉树表示环境的A*算法及其在足球机器人路径规划中的实现 总被引:3,自引:0,他引:3
提出采用二叉树表示二维空间的方法,对全局路径规划和局部路径规划进行综合考察,设计移动机器人在复杂环境下对动态障碍物进行避障的A算法,在足够机器人系统中进行仿真,将二叉树动态地表示球场的机器人与目标对角线的矩型环境,使搜索范围随搜索进程动态地减少,实现了路径规划的整体优化。 相似文献
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本文以蚁群算法为基础,按照其基本思想,在matlab下编程实现了算法在电脑鼠迷宫搜索中的应用,验证了算法设计的合理性,通过仿真实验,求解出迷宫的最优路径,完成对迷宫路径的规划。 相似文献
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机器人滚动路径规划的算法与仿真研究 总被引:2,自引:0,他引:2
借鉴预测控制滚动优化原理,研究了未知环境中移动机器人路径规划问题。文中提出的基于滚动窗口的移动机器人路径规划方法充分利用机器人实时测得的局部环境信息,以滚动方式进行在线规划。大量仿真结果表明,滚动规划使机器人对动态环境具有很好的适应性,但由于缺乏全局环境信息,在有些复杂情况下不能保证规划的顾利实施,需要进一步增加环境约束和对已探知信息的记忆。 相似文献
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为解决移动机器人在动态环境下的路径规划问题,将Informed-RRT*和人工势场法相融合,提出全局与局部规划算法相融合的路径规划方法。首先,针对Informed-RRT*算法采样效率低,以及得到路径不满足机器人运动学约束的问题,采用目标偏置法与自适应步长法,减少冗余搜索与不必要树的生长;同时,引入走廊优化与时间重分配法,优化路径节点,使路径更加平滑。其次,针对人工势场法易陷入局部极小值和目标点附近不可达的问题,采用平滑窗格策略,增设全局路径子目标点,使机器人能够逃离局部极小值,完成规划任务。仿真结果表明,静态环境中自适应步长Informed-RRT*算法相比于Informed-RRT*算法求解时间缩短了71.98%;动态环境中,混合算法相比于人工势场法,搜索时间缩短了15.4%,路径长度缩短了11.1%。 相似文献
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基于迷宫算法和遗传算法的船舶管路路径规划 总被引:2,自引:0,他引:2
船舶管路的多样性和布局环境中约束的复杂性导致管路设计效率低下.为辅助设计人员提高管路设计效率并减少人为错误,提出了一种新的管路设计方法.首先,基于轴平行包围盒简化管路布局空间,利用栅格法对其进行离散化,并赋予空间网格特定的能量值,构建管路布局优化问题的数学模型.其次,基于遗传算法的框架,引入改进迷宫算法,提出管路路径规划方法,其中:迷宫搜索中引入辅助点的概念,增加了遗传算法中初始种群的多样性,有利于提高遗传算法的全局搜索能力;提出了定长度的编码方法,简化了管路染色体处理难度,提高了算法性能;基于引入方向优先搜索策略的迷宫算法,设计定长度编码遗传算子,保证了子代个体的质量,提高算法的收敛速度.最后,基于仿真试验,验证算法的性能.试验结果表明了该方法的可行性和高效率,以及其对实际管路布局工作具有指导意义. 相似文献
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Gustavo J. E. Scaglia Vicente A. Mut Mario Jordan Carlos Calvo Lucia Quintero 《Journal of Engineering Mathematics》2009,63(1):17-32
The control of a mobile robot using a linear model with uncertainty for design purposes is investigated. The uncertainty arises
from the variation of the operation point of the mobile robot. Robust Control Theory is used for the controller design, which
allows dealing with systems whose parameters may vary between certain bounds. The proposed controller has shown, in experimentation
tests, an acceptable performance and an easy and simple practical implementation. Also, an application of the proposed controller
to a leader-following problem is shown; in it, the relative position between robots is obtained through a laser. 相似文献
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针对移动机器人运动规划过程中,采用快速扩展随机树(RRT)算法采样效率低,寻找临近节点计算量大,及非线性反馈控制器不受系统模型动态约束的问题, 提出一种新的基于分级随机采样与扩展的弱随机RRT算法,同时设计快速限幅非线性反馈控制器,保证运动规划过程中机器人始终满足系统模型动态约束。首先,在迭代伊始结合节点评价策略建立节点的选取集合;其次,按照规定顺序选取扩展节点并随机选择扩展方向,将计算得到的新子节点连接到随机树完成扩展;然后,对初始路径进行规划,采用快速限幅非线性反馈控制器计算机器人在路径点上的控制序列和位姿,实现移动机器人的运动规划;最后,通过仿真验证了该算法的有效性。结果表明:提出的分级随机采样弱随机RRT算法不依赖最近节点的选取,相比RRT算法缩短了求解时间,提高了迭代速度。 相似文献
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Optimal-control theory is used in the manipulation planning for an ability-limited robot (i.e., a mobile robot with limited
maneuverability). The goal of manipulation is to push an object from a given initial configuration to a goal configuration—a
common task could be found in the application of mobile robots to manufacturing, in adaptive fixturing for robotic assembly
and in robotic gaming. The ability-limited robot is restricted here to perform only two types of motion in a plane. One is
pushing the object forward with a constant and fixed velocity, the other one is rotating the object counter-clockwise along
a fixed-radius circle with a constant angular velocity. First, the controllability of the proposed manipulation system is
proved. Then, the optimal-planning problem is studied within the framework of a switched system. By the aid of optimal-control
theory, it is proved that an optimal trajectory involves at most two switchings between these two simple actions. After evaluating
the existence and structure of the candidate optimal trajectories, an optimal planner is implemented to find the optimal trajectory.
Finally, manipulation examples are provided to demonstrate the proposed manipulation method. 相似文献
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《工程(英文)》2015,(1)
In this paper, we develop a decentralized algorithm to coord inate a group of mobile robots to search for unknown and transient radio sources. In addition to limited mobility and ranges of communication and sensing, the robot team has to deal with challenges from signal source anonymity, short transmission duration, and variable transmission power. We propose a two-step approach: First, we decentralize belief functions that robots use to track source locations using checkpoint-based synchronization, and second, we propose a decentralized planning strategy to coordinate robots to ensure the existence of checkpoints. We analyze memory usage, data amount in communication, and searching time for the proposed algorithm. We have implemented the proposed algorithm and compared it with two heuristics. The experimental results show that our algorithm successfully trades a modest amount of memory for the fastest searching time among the three methods. 相似文献
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