基于环境知识遗传算法的机器人路径规划方法  

Path planning based on genetic algorithm using environmental knowledge for a mobile robot

作　　者：张斌[1] 李淑红[1] 

机构地区：[1]河南财经学院信息学院,河南郑州450002

出　　处：《郑州轻工业学院学报（自然科学版）》2009年第3期20-23,共4页Journal of Zhengzhou University of Light Industry:Natural Science

基　　金：国家自然科学基金项目(60774014);河南省科技攻关项目(072102210001)

摘　　要：提出一种新的基于遗传算法的机器人路径规划方法.该方法首先用栅格模型对机器人的工作环境进行建模,然后采用遗传算法进行路径规划.采用一种新的固定长度的二进制编码,针对这种编码机制设计出相应的遗传算子,将路径与障碍物无碰要求和规划出来的路径最短要求作为适应函数,加入图搜索技术,应用邻域知识,增强遗传算法的局部搜索能力.仿真结果表明该方法是正确的和有效的.A new global path planning approach based on genetic algorithm （GA） for a mobile robot was presented. The robot＇s workspace was represented with girds and the GA was used to find the path. A novel fixed-length binary encoding mechanism for the paths of the mobile robot was used and some genetic opera- tors corresponding to the encoding mechanism were provided at the same time. The fitness combines the col- lision-free and the shortest distance of the path as fitness function. Craph search technology and field know- ledge are used to strengthen the local search ability of genetic algorithm. Simulation results verify the effectiveness and practicability of this approach.

关 键 词：遗传算法 路径规划 机器人 环境知识 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]