混合遗传进化机器人同时定位路径偏移纠正  

Correction of Robot Simultaneous Location Path Offset Based on Hybrid Genetic Evolution

作　　者：何伟娜[1] 夏栋梁[1] 

机构地区：[1]平顶山学院软件学院,河南平顶山467000

出　　处：《科技通报》2014年第12期82-84,共3页Bulletin of Science and Technology

基　　金：基于决策树和已传神经网络的房地产预警系统研究(132102310516)

摘　　要：机器人的同时定位与地图创建技术是实现机器人移动过程中自主定位和控制的关键技术,在机器人同时定位目标的过程中,常出现路径偏移,需要进行路径偏移纠正,实现精确控制。提出一种基于多叉树混合遗传进化的机器人同时定位路径偏移纠正控制方法,首先进行多叉树混合遗传进化机器人同时定位控制建模,在对多信息融合下进行机器人同时定位,得到基于多叉树混合遗传进化的机器人同时定位路径修正测试函数。仿真实验和研究结果表明,该算法可以实现机器人同时定位路径偏移纠正,对机器人的控制精度较高,以较快的收敛速度找到了最优路径,其全局优化能力和搜索速度都得到了显著提高。The robot simultaneous localization and mapping technology is the key technology to realize autonomous position-ing and control during the movement of the robot, in the robot simultaneous localization of target homing process, it often ap-pears offset path, path offset correction is necessary, the precise control is achieved. A multi way tree based on the hybridmobile robot simultaneous localization path offset correction control method is proposed, the first tree hybrid genetic evolu-tionary robot simultaneous localization and control modeling is constructed, the multi information fusion of robot simultane-ous localization, the mixed genetic evolutionary multi tree based robot simultaneous localization path correction test func-tion is obtained. The simulation and experiment results show that the algorithm can be realized, location path offset correc-tion robot is obtained. With fast convergence speed to find the optimal path, the global optimization ability and searchspeed can be improved significantly.

关 键 词：机器人 多叉树 路径偏移 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]