基于改进遗传算法的两轮自平衡机器人能量优化策略  

Energy optimization strategy of two-wheeled self-balanced robot based on improved genetic algorithm

作　　者：王晓宇[1] 闫继宏[1] 秦勇[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150080

出　　处：《吉林大学学报（工学版）》2009年第3期830-835,共6页Journal of Jilin University:Engineering and Technology Edition

基　　金：'863'国家高技术研究发展计划项目(2006AA04Z245)

摘　　要：为有效使用有限的电池容量,延长机器人运行时间,针对机器人能量消耗问题,建立了两轮自平衡机器人的动力学模型和能耗模型。由于能量函数具有指数形式,很难获得解析解最小化能耗函数。因此提出基于改进遗传算法的分步渐进优化策略。通过全局寻优的方式对机器人的运动速度和能量消耗进行优化,解决了能耗最小化问题。通过仿真验证了算法的有效性和实时性。A dynamics model and an energy consumption model were built for the two-wheeled self-balanced robot to use effectively the limited battery capacity and extend the operation time of the robot.Because the battery energy function has the exponential form,it is difficult to derive an analytic solution.So a stepped asymptotic optimization strategy was proposed based on the improved genetic algorithm.The velocity and the energy consumption of the robot were optimized by means of the global optimization technique,...

关 键 词：自动控制技术 改进遗传算法 两轮自平衡机器人 分步渐进优化 能量优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]