计算机技术与发展2018，Vol.28Issue(6)：49-52,58,5.DOI:10.3969/j.issn.1673-629X.2018.06.011
基于进化算法和模糊控制的机器人路径规划
Research on Path Planning of Robot Based on Evolutionary Algorithm and Fuzzy Control Algorithm
摘要
Abstract
The local path planning of mobile robot is a typical application of path planning problem. Local path planning relies on sensors to acquire environment information when the environment information is unknown. In this paper,we propose an intelligent path planning strategy combined evolutionary algorithm and fuzzy control algorithm. The corresponding environmental information is obtained by the image sensor on the robot. Then the environmental information of the mobile robot is identified and classified by using the genetic pro-gramming ( GP) . The global optimal solution can be avoided to distinguish obstacles and goals correctly. Fuzzy reasoning is used to blur the position and the target position information. The fuzzy rules are set up and the precise drive commands are generated by solving the fuzzy rules. The simulation shows that the path planning method proposed can realize the accurate identification and classification of the unknown environment. In comparison with the classification algorithm of GA and the ant colony optimization ( ACO) ,and compared with the optimal search path by colony optimization and pure fuzzy control algorithm,the proposed method has high efficiency and reliability.关键词
移动机器人/路径规划/遗传规划算法/模糊控制算法/蚁群算法Key words
mobile robot/path planning/GP algorithm/fuzzy control algorithm/ant colony optimization分类
信息技术与安全科学引用本文复制引用
张俊溪,米国际,王鑫,蒋江红..基于进化算法和模糊控制的机器人路径规划[J].计算机技术与发展,2018,28(6):49-52,58,5.基金项目
陕西省科技计划项目(S2016YFGY0129) （S2016YFGY0129）
