基于环境模型的移动机器人路径规划

Environment model based path planning for mobile robot

介绍了一种新的移动机器人路径规划方法。采用链接图法,对工作空间建模。用Di-jkstra算法决策出全局最短路径,然后用遗传算法对此路径进行优化,得到全局最优路径。最后提出了一种对路径几何改进的方法。仿真结果表明,该方法方便简单,对所规划的路径质量有所提高。

This paper presents a new path planning approach based on genetic algorithm. First, MAKLINK Graph is used for modeling the working space, an approximate shortest path of mobile robot is determined by using Dijkstra algorithm. Path can be found easily with simple genetic algorithm by adjusting the nodes of the approximate one. Then genetic algorithm is used for obtaining the optimum path. Results of simulation show that this path planning method is feasible with improved quality.