基于可拓遗传算法的机器人路径规划  

The path planning for robots based on the genetic extension algorithms

作　　者：王科俊[1] 徐晶 王磊[1] 张燕[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2006年第7期1135-1138,共4页Journal of Harbin Institute of Technology

摘　　要：在遗传算法基础上,用扩展物元来表示机器人的位置信息,使计算机能够较容易读懂这种语言,加快了计算速度；用关联函数作为遗传算法的适应度函数,使算法更容易找到最优化路径；采用可拓工程方法中的三种可拓变换形式,丰富了遗传算法的变异方式．实验证明,可拓遗传算法的机器人路径规划能有效提高的机器人路径规划的速度和准确性．Based on the original genetic algorithm, extended matter elements present the position of robots, which makes the computer reading the language much easier and accelerates the computing speed. As the fitness function in genetic algorithms, dependent function makes the algorithm easier to find the optimization path. Three kinds of extension transformation in extension engineering method are adopted which enrich the mutation patterns in genetic algorithm. Final experiment proves that the extension genetic algorithms effectively improve the speed and accuracy in robot path planning.

关 键 词：可拓遗传算法 路径规划 机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]