摘要
提出了机器人在复杂环境中寻找到达目标点最优轨迹的一种避障策略.首先,从3个方面考虑,提出了机器人的运动函数.第一,机器人运动必须在指定区域内;第二,机器人能够动态避障并到达目标位置;第三,机器人运动路径保证最短.其次,给出了机器人路径优化设置的条件:个体适配值、路径再优化和运动策略突变.最后,通过仿真实验,证明了所提出的方法是可行的.
This paper presents an avoidance strategy for the robot to find the optimal trajectory to reach the target point in a complex environment.Firstly,the robot＇s movement function is presented from the following three aspects.The first is that the robot motion must be in designated areas;the second is that the robot can reach the target location by the dynamic obstacle avoidance;and the third is the shortest movement path of the robot is guaranteed.Secondly,the set of conditions for the robot path optimization are given：they are fitness value of individual,re-optimization of path and mutation of movement strategy.Lastly,simulation results show that the proposed method is feasible.
出处
《沈阳工程学院学报（自然科学版）》
2010年第4期344-347,共4页
Journal of Shenyang Institute of Engineering:Natural Science
关键词
移动机器人
避障策略
运动函数
路径优化
mobile robot
avoidance strategy
movement function
path optimization
