数字技术与应用Issue(3)：99-101,3.
基于免疫进化算法的轮式移动机器人非完整运动规划
Nonholonomic Motion Planning of the Wheeled Mobile Robot Based on Artificial Immune Algorithm
李晓敏1
作者信息
- 1. 山西大同大学煤炭工程学院,山西大同037003
- 折叠
摘要
Abstract
The optimal nonholonomic motion planning problem of the wheeled mobile robot is discussed in this paper.Based on the nonholonomic constrints,the motion planning problem of the wheeled mobile robot is transformed into an optimal control problem of the nonlinear system.The artificial immune algorithm of optimal for motion planning is proposed substituting the traditional method.Building the antibody coding and affinity function,the experiment was carried out with algorithm description in detail.The effectiveness of the approach is shown by the experiment result.关键词
移动机器人/非完整约束/运动规划/人工免疫算法Key words
Mobile robot/Nonholonomic constraint/Motion planning/Artificial Immune Algorithm分类
信息技术与安全科学引用本文复制引用
李晓敏..基于免疫进化算法的轮式移动机器人非完整运动规划[J].数字技术与应用,2012,(3):99-101,3.
