数字势场和遗传算法的机器人路径规划的方法  

Approach to Robot Path Planning Based on Numerical Potential Field and Genetic Algorithm

作　　者：龚进峰[1] 彭商贤[1] 

机构地区：[1]天津大学智能机械研究所,天津300072

出　　处：《天津大学学报（自然科学与工程技术版）》2002年第4期525-529,共5页Journal of Tianjin University：Science and Technology

基　　金：国家电力总公司资助项目;山东电力总公司资助项目 (鲁电 991 2 )

摘　　要：提出了一种适用于任何形式机器人路径规划的新方法 ,该方法利用笛卡尔工作空间的几何信息 ,建立离散化工作空间的距离图和数字势场 ,基于启发函数引导机器人在构形空间使用遗传算法进行搜索 .而且 ,针对势场局部极小点问题 ,提出了一种使用遗传算法和交替势场进行逃离的新算法 .最后分别为 6自由度关节机器人和 12自由度双手协调机器人进行路径规划和仿真 。A new approach to robot path planning, which can be used to plan path for any type of robot, is proposed based on numerical potential field and genetic algorithm. The approach uses geometric information of a cardinate workspace to build the distance map and the numerical potential field of a discretized workspace and uses genetic algorithm to guide robot searching on the C-space on the based heuristic function. To the local minima of a potential function defined over the C-space, a new algorithm is presented which uses genetic algorithm and alternative potential to escape the local minima. Finally, simulation experiments of path planning about a manipulator with 6 DOF′s and a two-arm cooperating robot with 12 DOF′s show the effectiveness of the proposed approach.

关 键 词：距离图 数字势场 遗传算法 路径规划 离散化工作空间 自由度 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]