摘要
将遗传算法用于移动机器人的全局路径规划,复杂的二维编码问题简化为一维编码问题,建立边界约束、路径点必须在障碍物之外、路径点连线不能与障碍物相交等3个约束条件,以机器人行走路径最短作为适应度函数进行遗传优化,在规划好的路径上修正。仿真实验表明了该方法的有效性。
A new approach of global path planning for mobile robot based on genetic algorithms is presented and the complex two dimension coding problem is converted into the one dimension ones. The restrictions on the boundary and the path node out of the obstacles and the restriction on the line between path nodes not crossing over the obstacles are put into .At the same time the fitness function meets the requirement of the shortest period of working length .Finally, repair the planned-path and get a more smooth path. Experimental results in simulation prove the method is correct and feasible.
出处
《安徽工业大学学报（自然科学版）》
CAS
2007年第4期409-411,共3页
Journal of Anhui University of Technology（Natural Science）
基金
安徽省自然科学基金重点研究项目(KJ2007A052)
