北京科技大学学报2012，Vol.34Issue(2)：202-206,5.
一种基于遗传算法参数优化的改进人工势场法
An improved artificial potential field method with parameters optimization based on genetic algorithms
摘要
Abstract
The artificial potential field method is a simple and efficient path planning algorithm for mobile robots.Aiming at a kind of goal unreachable problem in traditional artificial potential field methods,an improved algorithm which changes the angle of repulsion at the local minimum point and sets the virtual local minimum area was proposed for problem-solving.The genetic algorithm was also introduced to optimize the parameters,i.e.the revolved angle of repulsion and the radius of the virtual local minimum area for the improved artificial potential field algorithm.It is proved that the proposed algorithm can plan out a simple,smooth and safe optimum path connecting the start point and the end point by simulation experiments.关键词
路径规划/移动机器人/人工势场法/遗传算法Key words
path planning/mobile robots/artificial potential fields/genetic algorithms分类
信息技术与安全科学引用本文复制引用
李擎,王丽君,陈博,周洲,尹怡欣..一种基于遗传算法参数优化的改进人工势场法[J].北京科技大学学报,2012,34(2):202-206,5.基金项目
教育部第36批“留学回国人员科研启动基金”资助项目 （）
国家自然科学基金资助项目 （）
北京市重点学科建设资助项目 （）
