基于免疫进化算法的轮式移动机器人非完整运动规划  

Nonholonomic Motion Planning of the Wheeled Mobile Robot Based on Artificial Immune Algorithm

作　　者：李晓敏[1] 

机构地区：[1]山西大同大学煤炭工程学院,山西大同037003

出　　处：《数字技术与应用》2012年第3期99-101,共3页Digital Technology & Application

摘　　要：本文阐述了轮式移动机器人非完整运动的最优规划问题,在系统的非完整特性基础上,将轮式移动机器人的运动规划转化为非线性系统最优控制问题。在最优控制中引入了人工免疫算法,替代了传统的迭代方法,提出了基于人工免疫算法的非完整运动规划的最优控制方法。通过抗体编码和亲合力函数给出了算法的具体实现步骤,并且进行了仿真实验。实验结果表明算法的有效性和可行性。The optimal nonholonomic motion planning problem of the wheeled mobile robot is discussed in this paper.Based on the nonholonomic constrints,the motion planning problem of the wheeled mobile robot is transformed into an optimal control problem of the nonlinear system.The artificial immune algorithm of optimal for motion planning is proposed substituting the traditional method.Building the antibody coding and affinity function,the experiment was carried out with algorithm description in detail.The effectiveness of the approach is shown by the experiment result.

关 键 词：移动机器人 非完整约束 运动规划 人工免疫算法 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]