计算机工程2012，Vol.38Issue(8)：137-140,4.DOI:10.3969/j.issn.1000-3428.2012.08.045
NSGA-Ⅱ在蛇形机器人中的优化与控制
Optimization and Control of NSGA-Ⅱ in Snake-like Robot
摘要
Abstract
This paper mainly studies the problem of serpentine locomotion gait optimization and control for the snake-like robot. It analyzes the motion gait model of the snake-like robot with the friction model, and uses PID controller to control and track the gait according to the gait control system structure based on closed-loop feedback. Applying the Non-dominated Sorting in Genetic Algorithm(NSGA- Ⅱ) into the gait optimization on the above basis, it implements the parameter optimization for the motion gait track and control system based on closed-loop feedback. Simulation results show that NSGA- Ⅱ algorithm can achieve the objective to optimize variables efficiently, find the optimal value between the power and speed, and is feasible and effective to solve the problem of the multi-objectives optimization for the motion gait of the snake-like robot.关键词
蛇形机器人/运动步态优化与控制/PID控制器/遗传算法/多目标优化Key words
snake-like robot/motion gait optimization and control/PID controller/genetic algorithm/multi-objectives optimization分类
信息技术与安全科学引用本文复制引用
魏武,邓高燕..NSGA-Ⅱ在蛇形机器人中的优化与控制[J].计算机工程,2012,38(8):137-140,4.基金项目
国家自然科学基金资助重点项目(60736024) （60736024）
中央高校基本科研业务费基金资助项目(2009ZM192) （2009ZM192）
