基于时间栅格法和免疫算法的机器人动态路径规划

Robot dynamic path planningbased on time grids method and immune algorithm

提出了一种机器人动态路径规划方法。该方法首先采用时间栅格法来标识动态障碍物,建立机器人的环境信息,然后使用免疫算法实现在动态环境下机器人的全局和局部路径规划,达到避障和避碰的目的。文中定义了免疫算法的多因素适应度函数由碰撞系数、距离、转角和安全系数决定。实验表明所提方法可以提高路径规划的效率,满足机器人实时导航要求。

Based on time grids method and immune algorithm (IA), a new robot path planning method in dynamic environment was proposed. Time grids method was used to represent moving obstacles and build up the environmental model of robot. IA was used to make global and local robot path planning in dynamic environment in order to avoid obstacle and collision. The fitness function of IA wass evaluated in terms of collision, distance, corner and safety parameters. Simulation experiment results demonstrate the effectiveness and correctness of the method.