摘要
建立了非规则复杂地形环境的简化数学模型。结合地形环境的模型建立的问题的相关模型。基于启发式的遗传算法,进化选择不仅仅在交配繁殖阶段,更是融入了种群初始化阶段。通过对机器人连续轨迹的离散化建模,将复杂路径规划问题简化,实现了路径的高效自主优选。为四足机器人的静步态运动的全局路径规划建立了新的思路。
Build a simplified mathematical model of a the irregular complex terrain environment. Model of the problem is built by combining with terrain environment model. Use the Heuristic -based genetic algorithm, evolutionary selection is not only in the mating stage but also is integrated into the population initialization phase. To discrete the modeling of continuous track, by simplifying the complex router planning problem, achieve the efficient autonomous chosen of the router. Establish a new way for static gait of quadruped robot global router planning.
出处
《机械与电子》
2013年第5期57-60,共4页
Machinery & Electronics
基金
国家"八六三"计划资助项目(2011AA040701)
关键词
四足机器人
遗传算法
离散
仿真
quadruped robot
genetic algorithm
discrete
simulation
