基于模糊神经网络和遗传算法的机器人三维路径规划  

The Three-Dimensional Path Planning of Robots Based on Fuzzy Neural Network and Genetic Algorithm

作　　者：陈志军[1] 曾蒸[2] 

机构地区：[1]义乌工商职业技术学院机电信息学院,浙江义乌322000 [2]重庆师范大学新媒体学院,重庆401331

出　　处：《重庆师范大学学报（自然科学版）》2018年第1期93-99,共7页Journal of Chongqing Normal University:Natural Science

基　　金：国家自然科学基金(No.61103051);2016年度浙江省教育技术研究规划项目(No.JA049)

摘　　要：【目的】为了有效提高机器人三维路径规划精度。【方法】基于模糊神经网络和遗传算法建立了一种新的路径规划方法。【结果】根据路径长度和路径能量提出了三维路径规划的评价指标和优化函数,同时利用模糊神经网络建立了三维路径的5层结构,并结合遗传算法来优化并求解最优路径。【结论】通过仿真实验深入研究了影响该方法的关键因素,结果表明该方法具有更好的适应性。[Purposes]In order to improve the path planning accuracy of robot.[Methods]A novel path planning method is proposed with fuzzy neural network and Genetic algorithm.[Findings]The evaluation indexes and optimization function are presented by path length and path energy,and the five-layer structure of three-dimensional path is built based on fuzzy neural network.Then,the optimal path is solved with genetic algorithm.[Conclusions]The key factors affecting the method are studied by simulation,and the results show that the method has better adaptability.

关 键 词：机器人 三维路径规划 模糊神经网络 遗传算法 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]