基于遗传算法的轮式移动机器人轨迹优化研究

Research of Trajectory Optimization for Wheeled Mobile Robot Based on Genetic Algorithm

提出了一种基于遗传算法的轨迹优化方法,将移动机器人的运行轨迹分为若干小段,用遗传算法对每个小段进行规划和优化,从而得到移动机器人的整个运行轨迹。可以作为移动机器人轨迹优化的可行路径,并给出了相应的优化算法。

The paper proposes trajectory optimization method based on genetic algorithm method, in which mobile robot trajectory is divided into several short sections, genetic algorithm is used for planning and optimizing each subparagraph, therefore the whole trajectory of mobile robot is achieved.lt could serve as optimal path of a mobile robot, and ensuing from it, the corresponding algorithm is given out.