基于遗传算法的欠驱动机器人避障规划与轨迹跟踪

Collision-free Motion Planning and Trajectory Tracking of Underactuated Robots Based on Genetic Algorithm

对平面欠驱动机器人的避障运动规划与轨迹跟踪问题进行了研究,提出部分稳定规划器切换的新方法,通过部分规划器的切换实现欠驱动机器人系统的运动规划任务.在制定切换规则方面利用遗传算法进行自寻优,得到最优切换规则,对含有约束的非线性规划问题,采用罚函数法在适应度函数中添加惩罚项,转化为无约束优化问题.以平面3R欠驱动机器人为例进行了数值仿真,验证了方法的有效性.

Collision-free motion planning and trajectory tracking of underactuated robots are investigatea in this paper.The partly stable planners are introduced and the control objectives are fulfilled by the proper switching of partly stable planners.The genetic algorithm is introduced in the best switching sequence searching. Penalty method is utilized and the constrained optimizations turns to be unconstrained ones,then the best solutions are obtained by the genetic algorithm.At last numerical simulations which a...