| 基于Q-GA的人工势场的移动机器人路径规划 |
| |
| 引用本文： | 张波涛,刘士荣.基于Q-GA的人工势场的移动机器人路径规划[J].控制工程,2008,15(4). |
| |
| 作者姓名： | 张波涛 刘士荣 |
| |
| 作者单位： | 杭州电子科技大学,自动化研究所,浙江,杭州,310018;华东理工大学,自动化研究所,上海,200237;杭州电子科技大学,自动化研究所,浙江,杭州,310018 |
| |
| 基金项目： | 国家自然科学基金
,
浙江省科技计划
,
杭州电子科技大学校科研和教改项目 |
| |
| 摘 要： | 针对人工势场的路径规划具有目标不可达、合力为零而导致的陷阱,提出了一种基于改进人工势场模型和量子遗传算法相结合的移动机器人路径规划方法。在路径评价指标引入了路径安全性能和路径校正频率,采用量子遗传算法来选择人工势场模型的参数,从而克服其模型缺陷,同时实现了路径和安全性的优化。仿真结果表明,该方法能有效地提高路径规划的性能。
|
| 关 键 词： | 移动机器人 人工势场 运动规划 量子遗传算法 |
Artificial Potential Field with Q-GA Based Route Plan of Mobile Robot |
| |
| ZHANG Bo-tao,LIU Shi-rong.Artificial Potential Field with Q-GA Based Route Plan of Mobile Robot[J].Control Engineering of China,2008,15(4). |
| |
| Authors: | ZHANG Bo-tao LIU Shi-rong |
| |
| Abstract: | To the problems of composition of forces amounting to zero and goal unreachable in path planning with artificial potential field,a method based on artificial potential field with quantum genetic algorithm(Q-GA) is presented.The route safety and swerve frequency are introduced to evaluation index,and the parameters of potential field model are optimized by Q-GA.So the objection of artificial potential field model is solved,and optimization of the route length and safety are realized.Simulation rusult shows that the proposed method can effectively improve the performance of route plan. |
| |
| Keywords: | mobile robot artificial potential field(APF) motion planning quantum genetic algorithm(Q-GA) |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
