| 基于学习分类器的自主地面车在狭隘环境中的路径规划 |
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| 引用本文： | 邵杰,杨静宇,石朝侠. 基于学习分类器的自主地面车在狭隘环境中的路径规划[J]. 信息与控制, 2011, 40(3). DOI: 10.3724/SP.J.1219.2011.00413 |
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| 作者姓名： | 邵杰 杨静宇 石朝侠 |
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| 作者单位： | 南京理工大学计算机科学与技术学院,江苏南京,210094 |
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| 摘 要： | 提出了一种基于学习分类器(LCS)的避碰路径规划方法,设计了集成适应度函数,在确保安全避碰的前提下,解决自主地面车(ALV)在狭隘环境下的路径优化问题.不同环境的仿真实验结果表明,遗传算法和学习分类器结合用于自主地面车的路径规划是收敛的,提高了ALV在狭隘环境中快速发现安全路径的能力.
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| 关 键 词： | 路径规划 自主地面车 学习分类器 遗传算法 |
Autonomous Land Vehicle Path Planning Based on Learning Classifier System in Narrow Environments |
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| SHAO Jie,YANG Jingyu,SHI Chaoxia. Autonomous Land Vehicle Path Planning Based on Learning Classifier System in Narrow Environments[J]. Information and Control, 2011, 40(3). DOI: 10.3724/SP.J.1219.2011.00413 |
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| Authors: | SHAO Jie YANG Jingyu SHI Chaoxia |
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| Affiliation: | SHAO Jie,YANG Jingyu,SHI Chaoxia (School of Computer Science and Technology,Nanjing University of Science and Technology,Nanjing 210094,China) |
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| Abstract: | A collision avoidance path planning method based on LCS(learning classifier system) is present,and an integrated fitness function to solve ALV's(autonomous land vehicle) path optimization problem is designed in the narrow environment under safe collision avoidance.Different environment simulation results show that ALV's path planning is convergent by combining genetic algorithms and learning classifier system,and ALV's capabilities of quickly finding the secure path in the narrow environments is improved. |
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| Keywords: | path planning autonomous land vehicle(ALV) learning classifier system(LCS) genetic algorithm(GA) |
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