未知环境下基于可拓遗传算法的避障算法  

Obstacle-avoiding algorithm based on extension genetic algorithm in unknown environment

作　　者：王越超[1] 申建芳[2] 

机构地区：[1]广州城市职业学院信息与汽车工程学院,广州510405 [2]广东工业大学计算机学院,广州510600

出　　处：《计算机工程与应用》2010年第20期226-229,244,共5页Computer Engineering and Applications

基　　金：广州城市职业学院校级基金

摘　　要：为了提高避障机器人的避障能力和对环境的自适应能力,基于可拓遗传算法,对避障机器人的避障方法进行了研究。通过对避障机器人的可拓分析,提出了一种避障机器人物元模型,通过可拓变换重新认知环境信息,设计了相应的可拓适应度函数,改进了遗传操作。通过仿真分析,结果表明,改进后的可拓遗传算法优化了避障机器人的性能,提高了避障机器人对环境的鲁棒性。To enhance the obstacle-avoiding ability of the obstacle-avoiding robot,and increase the adaptability to the environment,the extension genetic algorithm is adapted.The obstacle-avoiding scheme is studied.Through the extension analysis of the obstacle-avoiding robot,an element model of the obstacle-avoiding robot is put forward.The environmental information is recognized by extension transformation.The reproduction and crossover operation are improved.The corresponding extension fitness function is designed.Through analysis and simulation,results show that the improved extension genetic algorithm improves the performance of the obstacle-avoiding robot and increases the robustness to the environment.

关 键 词：避障机器人 可拓变换 可拓遗传算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]