| 自学习移动机器人在未知环境中的路径规划 |
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| 引用本文： | 杨传华,杨萍,周美艳,刘金利.自学习移动机器人在未知环境中的路径规划[J].机械设计,2006,23(2):16-19. |
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| 作者姓名： | 杨传华 杨萍 周美艳 刘金利 |
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| 作者单位： | 佳木斯大学,机械工程学院,黑龙江,佳木斯,154007;兰州理工大学,机电学院,甘肃,兰州,730000;兰州理工大学,机电学院,甘肃,兰州,730000 |
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| 摘 要： | 通过对移动机器人在未知环境中的运动分析，结合多传感器信息，利用一种新的移动机器人在未知环境中的定位算法。该算法可根据移动机器人的运动过程。不断更新其位置状态。并能对下一步位置状态进行预估计。然后根据实测传感器信息对预估值进行修正。获得实际位置状态。并为移动机器人的路径规划提供基础。容纳后用遗传算法来获得机器人的最佳路径，最后用仿真试验验证了该方法的可行性。
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| 关 键 词： | 移动机器人 多传感器 定位算法 遗传算法 路径规划 |
| 文章编号： | 1001-2354（2006）02-0016-04 |
Path planning of self-learning mobile robot in unknown circumstances |
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| YANG Chuan-hua,YANG Ping,ZHOU Mei-yan,LIU Jin-li.Path planning of self-learning mobile robot in unknown circumstances[J].Journal of Machine Design,2006,23(2):16-19. |
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| Authors: | YANG Chuan-hua YANG Ping ZHOU Mei-yan LIU Jin-li |
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| Affiliation: | 1. School of Mechanical Engineering, Jiamusi University, Jiamusi 154007, China;2. School of Mechanical and Electrical Engineering, Lanzhou University of Science and Engineering, Lanzhou 730050, China |
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| Abstract: | Through motion analysis of mobile robot in unknown circumstances, and combining with the information of multi-sensors, a kind of new algorithm for positioning mobile robot in unknown circumstances was utilized. This method could continuously renew the state of position in accordance with the course of motion of mobile robot, and could conductpre-estimation on the state of position for the next step. And then to carry out modification on the estimated value according to the really measured information of sensor so as to obtain the actual state of position and provide a foundation for path planning of the mobile robot. After adopting the information, the optimal path of robot is obtained by the use of genetic clgorithm. Finally the feasibility of this method is verified by a simulative experiment. |
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| Keywords: | mobile robot multi-sensor positioning algo rithm genetic algorithms path planning |
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