摘要
针对机器人路径规划问题,采用memetic算法进行求解。算法采用全局搜索与局部搜索相结合的方式,即全局搜索策略融合了遗传算法的交叉与变异操作,局部搜索策略采用了爬山搜索。目标函数综合分析了路径规划中环境和机器人的实际约束条件,以期满足实际行走路径的最优方案。最后进行了机器人路径规划的仿真对比测试,证明了Memetic算法在机器人路径规划问题中具有更高的规划效率,得到的行走路径较优。
For path planning of mobile robot, the Memetic algorithm was adopted. This kind of algorithm combined global planning method with local search. The genetic algorithm which contained the crossover and mutation operation was selected as the global planning method while the mountain-climb searching algorithm was proposed in the local search. For the influence of objective function, many practical constraint of environment and robot were analyzed in this path planning. Finally, path planning comparison experiments was conducted. Simulation result shows that the Memetic algorithm can solve and obtain the path planning of mobile robot more effective.
出处
《机械设计与制造》
北大核心
2014年第2期130-132,共3页
Machinery Design & Manufacture
基金
国家科技支撑计划(2012BAF06B02)
