集美大学学报：自然科学版2012，Vol.17Issue(1)：60-64,5.
动态环境中基于遗传算法的机器人路径规划
Soccer Robot Path-planning Based on Genetic
廖卫强 1周宣达1
作者信息
- 1. 集美大学轮机工程学院,福建厦门361021
- 折叠
摘要
Abstract
In the dynamic environment, solve. The paper proposed a method of path p move in a two-dimensional workspace soccer robot dynamic path planning is a difficult problem to lanning based on genetic arithmetic. The robot was supposed to with some obstacles in it. The grids were used to discrete the two-di- mensional workspace. Sequence number of the grid was used to code the moving path of the robot. The se- quence number was so defined that one grid corresponded to only one sequence number. This paper presented an adaptive genetic algorithm function, by which the soccer robot could move along the shortest path and avoid obstacles. And by the roulette wheel selection, coincident- point crossover and combined mutation, the ge- netic operation was completed. For the disadvantage of research convergence of the previous genetic algo- rithm, restoration operation and reconstruction operation were added to the standard genetic algorithm to make the algorithm converge to a global optimum. This algorithm was tested in dynamic environments. The simula- tion experiments showed that this algorithm was able to plan a better path rapidly and thus validated the effec- tiveness of the proposed approach.关键词
足球机器人/路径规划/避障/遗传算法Key words
soccer robots/path planning/obstacle-avoidance/genetic algorithms分类
计算机与自动化引用本文复制引用
廖卫强,周宣达..动态环境中基于遗传算法的机器人路径规划[J].集美大学学报：自然科学版,2012,17(1):60-64,5.
