| 基于遗传算法的欠驱动机器人避障规划与轨迹跟踪 |
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| 引用本文： | 刘庆波,余跃庆,苏丽颖.基于遗传算法的欠驱动机器人避障规划与轨迹跟踪[J].北京工业大学学报,2009,35(4):433-438. |
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| 作者姓名： | 刘庆波 余跃庆 苏丽颖 |
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| 作者单位： | 北京工业大学机械工程与应用电子技术学院,北京,100124;航天科工惯性技术有限公司,北京,100074;北京工业大学机械工程与应用电子技术学院,北京,100124 |
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| 基金项目： | 国家自然科学基金，北京市自然科学基金，北京市教委人才强教计划拔尖人才资助项目(PHR(IHLB))，北京市教委科技发展计划 |
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| 摘 要： | 对平面欠驱动机器人的避障运动规划与轨迹跟踪问题进行了研究,提出部分稳定规划器切换的新方法,通过部分规划器的切换实现欠驱动机器人系统的运动规划任务.在制定切换规则方面利用遗传算法进行自寻优,得到最优切换规则,对含有约束的非线性规划问题,采用罚函数法在适应度函数中添加惩罚项,转化为无约束优化问题.以平面3R欠驱动机器人为例进行了数值仿真,验证了方法的有效性.
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| 关 键 词： | 非完整 运动规划 避障 轨迹跟踪 遗传算法 |
Collision-free Motion Planning and Trajectory Tracking of Underactuated Robots Based on Genetic Algorithm |
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| LIU Qing-bo,YU Yue-qing,SU Li-ying.Collision-free Motion Planning and Trajectory Tracking of Underactuated Robots Based on Genetic Algorithm[J].Journal of Beijing Polytechnic University,2009,35(4):433-438. |
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| Authors: | LIU Qing-bo YU Yue-qing SU Li-ying |
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| Affiliation: | 1;2;1.College of Mechanical Engineering and Applied Electronics Technology;Beijing University of Technology;Beijing 100124;China;2.Aerospace Inertia Technology Corporation;CASIC;Beijing 10074;China |
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| Abstract: | Collision-free motion planning and trajectory tracking of underactuated robots are investigatea in this paper.The partly stable planners are introduced and the control objectives are fulfilled by the proper switching of partly stable planners.The genetic algorithm is introduced in the best switching sequence searching. Penalty method is utilized and the constrained optimizations turns to be unconstrained ones,then the best solutions are obtained by the genetic algorithm.At last numerical simulations which a... |
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| Keywords: | nonholonomic motion planning obstacle avoidance trajectory tracking genetic algorithm |
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