摘要
为了获得机器人行走的最短路径,将Delaunay图引入到机器人路径规划中.采用Delaunay图对工作空间进行建模,使用floyd搜索算法作出全局最短路径,然后使用带有自适应参数调整的遗传算法对此路径进行优化,得到较优路径.仿真结果表明,该方法简单且易于实现.
In this paper, a Delaunay graph is introduced into path planning of mobile robot for the shortest path. Delaunay Graph is used for modeling the working space, an approximate shortest path of mobile robot is determined by using floyd algorithm. Path can be found easily with adaptive genetic algorithm by adjusting the parameter. Then genetic algorithm is used for obtaining the optimum path. Results of simulation show that this path planning method is simple and realized easily.
出处
《沈阳理工大学学报》
CAS
2008年第3期33-36,共4页
Journal of Shenyang Ligong University
