摘要
将遗传算法应用于机器人的全局路径规划,并在AS-R移动机器人上进行了实验研究。首先用栅格法对机器人的工作环境进行划分,得到机器人的环境模型;其次采用遗传算法进行路径搜索,并引入多种遗传算子,增强了算法的实用性。在AS-R机器人上采用VC开发,并在5×5的栅格环境中进行路径规划研究。实验结果表明,遗传算法结合栅格环境对移动机器人进行路径规划,具有简单且通用的效果,所得的折线路径也更适合于机器人进行轨迹跟踪。
An approach of global path planning for mobile robot based on genetic algorithms, which is used to research on AS-R mobile robot. Firstly, use grid method to divide robot＇ s work environment, which can get the model of robot＇ s environment. Then, adopt genetic algorithms to search the path, and introduce multiple genetic operators to enhance universal of the algorithms. Use VC to program on AS-R robot, and do path planning research in 5 × 5 grid environment. Through experiment, it shows that genetic algorithms combines grid environment to do path planning has a simple and common effect, and it can get a poly-line path, which also fits mobile robot to track.
出处
《微型机与应用》
2010年第4期71-73,共3页
Microcomputer & Its Applications
关键词
遗传算法
路径规划
移动机器人
栅格法
genetic algorithms
path planning
mobile robot
grid method
