| 深海履带机器人的局部避障规划研究 |
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| 引用本文： | 王随平,宁小玲,张彤,李闪阁.深海履带机器人的局部避障规划研究[J].可编程控制器与工厂自动化(PLC FA),2009(6):104-106. |
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| 作者姓名： | 王随平 宁小玲 张彤 李闪阁 |
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| 作者单位： | 中南大学信息科学与工程学院 |
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| 摘 要： | 针对深海履带机器人的动态，复杂的工作环境，提出了基于遗传模糊算法的机器人的局部避障规划方法。该算法利用遗传算法对模糊控制器的控制规则进行在线自动提取和优化，并提出了一种用于评价规则有效性的适应度函数和自适应变异算子，实现履带机器人的局部避障，且能够满足深海履带机器人局部路径规划的实时性要求。仿真试验结果表明了该算法的有效性。
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| 关 键 词： | 深海履带机器人 局部避障 遗传模糊算法 |
Research on Local Obstacle Avoidance Path Planning for Deep-seabed Tracked Vehicle |
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| Wang Suiping Ning Xiaoling Zhang Tong Li Shange.Research on Local Obstacle Avoidance Path Planning for Deep-seabed Tracked Vehicle[J].Programmable controller & Factory Automation(PLC & FA),2009(6):104-106. |
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| Authors: | Wang Suiping Ning Xiaoling Zhang Tong Li Shange |
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| Affiliation: | Wang Suiping Ning Xiaoling Zhang Tong Li Shange |
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| Abstract: | A genetic-fuzzy approach is presented for local obstacle avoidance of deepseabed tracked vehicle in dynamic and complex environment. The genetic algorithm is used to online automatically pick up and optimize the rules of a fuzzy logic controller, and a fitness function used to evaluate the effectiveness of the rules and an adaptive mutation operator are presented, then the local obstacle avoidance for tracked vehicle is realized. The results of simulation experiment indicate the effectiveness of the proposed method. |
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| Keywords: | Deep-seabed tracked vehicle Local obstacles avoidance Genetic-fuzzy algorithm |
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