摘要
针对人工势场的路径规划具有目标不可达、合力为零而导致的陷阱,提出了一种基于改进人工势场模型和量子遗传算法相结合的移动机器人路径规划方法。在路径评价指标引入了路径安全性能和路径校正频率,采用量子遗传算法来选择人工势场模型的参数,从而克服其模型缺陷,同时实现了路径和安全性的优化。仿真结果表明,该方法能有效地提高路径规划的性能。
To the problems of composition of forces amounting to zero and goal unreachable in path planning with artificial potential field,a method based on artificial potential field with quantum genetic algorithm（Q-GA） is presented.The route safety and swerve frequency are introduced to evaluation index,and the parameters of potential field model are optimized by Q-GA.So the objection of artificial potential field model is solved,and optimization of the route length and safety are realized.Simulation rusult shows that the proposed method can effectively improve the performance of route plan.
出处
《控制工程》
CSCD
2008年第4期451-455,共5页
Control Engineering of China
基金
国家自然科学基金资助项目(60675043)
浙江省科技计划基金资助项目(2007C21051)
杭州电子科技大学科研启动基金资助项目(KYS09150543)
关键词
移动机器人
人工势场
运动规划
量子遗传算法
mobile robot
artificial potential field（APF）
motion planning
quantum genetic algorithm（Q-GA）
