基于遗传算法的行为控制在机器人路径规划中的应用

The application of behavior control based on genetic algorithm for robot path planning

对于机器人在动态环境下要达到的目标以及根据周围环境进行实时的避障问题,提出了基于遗传算法的行为控制的路径规划方法。用行为来描述机器人在达到目标点时所要执行的任务,再用遗传算法对机器人的行为控制参数进行优化,适应度函数是由路径最短和能够动态避障的评价函数进行加权求和来确定。并以足球机器人为实验平台,通过仿真实验证明了该方法的可行性。

For the robot to achieve the goals in the dynamic enviroments ,and to avoid obstacle for the surrounding environment, a path planning method is proposed of the behavior control based on GA. The behavior describe acts that the robot go to the end point,then the GA optimize behavior＇s parameters,the weighted sum of the evaluation function that the shortest path and dynamic obstacle avoidance determine fitness function. The method＇s feasibility is proved by experiment,its experimental platform is the robot soccer.