机器人2011，Vol.33Issue(3)：257-264,272,9.DOI:10.3724/SP.J.1218.2011.00257
基于差分进化支持向量机的移动机器人可通过度预测
Mobile Robot Traversability Prediction Based on Differential Evolution Support Vector Machine
摘要
Abstract
A traversability prediction method for the mobile robot is presented. The traversability is described with the relative vibrafon. The color and texture features, which are one component of training sample, are extracted from the images of typical terrain. And the relative vibration intensity, which is the other component of training sample, is measured when the mobile robot travels across the typical terrain. The fitting method between training samples and relative vibration intensity based on differential evolution support vector machine is developed, of which the model parameters are optimized with differential evolution algorithm. When the mobile robot works, the image of the front terrain is linearly divided into sub-regions for prediction. The color and texture features of the sub-regions are extracted and the traversability values of the sub-regions are predicted based on the trained differential evolution support vector machine. For the smoothness of movement, the optimal path method is given based on traversability prediction with distance coefficient. The experiment demonstrates that the method can give an effective traversability prediction of the complex terrain for the mobile robot.关键词
移动机器人/可通过度/差分进化/支持向量机Key words
mobile robot/ traversability/ differential evolution/ support vector machine分类
信息技术与安全科学引用本文复制引用
郭晏,宋爱国,包加桐,崔建伟,章华涛..基于差分进化支持向量机的移动机器人可通过度预测[J].机器人,2011,33(3):257-264,272,9.基金项目
国家863计划资助项目(2009AA01Z311):国家自然科学基金资助项目(61075068) （2009AA01Z311）
教育部科技创新工程重大项目培育项目(708045). （708045）
