非确定环境下基于遗传算法的机器人路径规划方法研究  

Path Planning for Mobile Robot Based on Genetic Algorithm in Unknown Environment

作　　者：张颖[1] 夏兴华[1] 王德宝[2] 孙莹[1] 

机构地区：[1]沈阳建筑大学信息与控制工程学院,辽宁沈阳110168 [2]沈阳军区空军工程质量监督站,辽宁沈阳110015

出　　处：《科技广场》2011年第11期6-9,共4页Science Mosaic

摘　　要：采用栅格法建立机器人工作环境模型,并用MATLAB语言随机产生栅格中障碍物的位置及数量,应用遗传算法完成机器人路径规划,对遗传算法的插入和删除操作进行了改进,提高了遗传算法的搜索速度,并采用序号编码的方法,减小编码长度,简化遗传算法程序,缩短程序执行时间。仿真结果表明了该方法的有效性及可行性。The grids are used to express the two dimensional workspace with some obstacles in this paper,and the location and quantity of obstacles are produced in MATLAB in random.Meanwhile,genetic algorithm is introduced to finish the path planning for mobile robot.Besides,insert and delete operators are modified respectively,which can improve the search speed.And code method based on sequence number of grid with right angle coordinate is adopted,which reduced the code length,simplified procedures,and shorten perform time.Finally,simulation results show that the method is effective and feasible.

关 键 词：机器人 路径规划 遗传算法 插入 删除操作 避障 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]