期刊文献+

基于遗传算法的欠驱动机器人避障规划与轨迹跟踪 被引量:1

Collision-free Motion Planning and Trajectory Tracking of Underactuated Robots Based on Genetic Algorithm
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摘要 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...
出处 《北京工业大学学报》 EI CAS CSCD 北大核心 2009年第4期433-438,共6页 Journal of Beijing University of Technology
基金 国家自然基金资助项目(50575002,60705036) 北京市自然基金资助项目(3062004) 北京市教委人才强教计划 拔尖人才资助项目(PHR(IHLB)) 北京市教委科技发展计划资助项目(KM200610005003).
关键词 非完整 运动规划 避障 轨迹跟踪 遗传算法 nonholonomic motion planning obstacle avoidance trajectory tracking genetic algorithm
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参考文献2

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  • 2Jean -Michel Coron. Global asymptotic stabilization for controllable systems without drift[J] 1992,Mathematics of Control, Signals, and Systems(3):295~312

同被引文献7

  • 1倪斌,陈雄,鲁公羽.基于神经网络的未知环境路径规划算法研究[J].计算机工程与应用,2006,42(11):73-76. 被引量:5
  • 2张建英,赵志萍,刘暾.基于人工势场法的机器人路径规划[J].哈尔滨工业大学学报,2006,38(8):1306-1309. 被引量:83
  • 3Wang H J, Xiong W. Research on global path planning based on colony optimization for AUV[J].Journal of Marine Science and Applieation, 2009,8 (1) : 58-64.
  • 4Jiang L H, Deng M C, Akira I. Obstacle avoidance and motion control of a two wheeled mobile robot using SVR technique[J]. International Journal of Innovative Computing, Information and Control, 2009,5 (2):253-262.
  • 5Nearchou A C, Aspragathos N A. Obstacle avoidance control of redundant robots using genetic algorithms[C]// 3rd IEEE Mediterranean Symposium on New Directions in Control and Automation. Limassoh IEEE Press, 1995:60-67.
  • 6Novak G, Seyr M. Simple path planning algorithm for two- wheeled differentially driven (2wdd) soccer robots[C]// Proceedings of the Second Workshop on Intelligent Solutions in Embedded Systems. Graz, Austria :Graz Unirersity of Techonology, 2004:91-102.
  • 7刘国栋,谢宏斌,李春光.动态环境中基于遗传算法的移动机器人路径规划的方法[J].机器人,2003,25(4):327-330. 被引量:47

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