| 基于神经网络租遗传算法的足球机器人路径规划 |
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| 引用本文： | 刘祚时,胡翠娜. 基于神经网络租遗传算法的足球机器人路径规划[J]. 计算机应用与软件, 2007, 0(5) |
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| 作者姓名： | 刘祚时 胡翠娜 |
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| 作者单位： | 江西理工大学机电工程学院，江西理工大学机电工程学院 江西 赣州 341000，江西 赣州 341000 |
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| 摘 要： | 针对足球机器人在动态环境下的安全路径规划,提出一种将神经网络和遗传算法相结合的路径规划方法。用hopfield神经网络描述存在障碍物的动态环境,然后用遗传算法对代表路径的控制点进行寻优,并把路径安全性和最短路径要求融合为一个适应度函数。通过仿真实验表明该方法具有较高的实时性和有效性。
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| 关 键 词： | 足球机器人 路径规划 神经网络 遗传算法 |
PATH PLANNING APPROACH TO ROBOT SOCCER BASED ON NEURAL NETWORK AND GENETIC ALGORITHM |
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| Liu Zuoshi Hu Cuina. PATH PLANNING APPROACH TO ROBOT SOCCER BASED ON NEURAL NETWORK AND GENETIC ALGORITHM[J]. Computer Applications and Software, 2007, 0(5) |
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| Authors: | Liu Zuoshi Hu Cuina |
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| Abstract: | For the safe path planning of robot soccer in dynamic environments, the paper proposes a method of path planning combined with neural network and genetic algorithm. The neural network describle the dynamic environment with obstacle, then the control points curve presenting the path is optimized by genetic algorithm, and the fitness of both the factors of security and shortest distance are fused to a fitness function. The simulation result shows that the method has high real-time ability and efficient. |
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| Keywords: | Robot soccer Path planning Neural networks Genetic algorithm |
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