机器人路径规划研究

Study on Robot Path Planning

机器人路径规划是在有障碍物的工作空间中寻求一条安全无障的最优路径,是当前机器人研究领域的热点问题,是实现机器人自主导航和完成复杂任务的关键技术之一。在对智能路径规划方法研究的基础上,提出了基于人工免疫算法的机器人路径规划,并对免疫算法进行了详细设计。仿真结果表明,人工免疫算法可以很好地规划出恰当的路径,收敛速度快,规划效果好,较好地验证了所提出方法的正确性和有效性。

Robot path planning makes the robot find an optimal path to ensure that there will be no collision with obstacles in the work space. The robot path planning is emerging as a key technology in the study of mobile robotics over recent years. In the robot technology research, path planning technology is the core of its research, and it plays a very important role in the autonomous navigation and the achievement of complex task of the robot. Based on study of intelligent path planning methods, this paper redesigns the artificial immune algorithm and applies it in robot path planning successfully. The experiment＇ s result verifies the feasibility and validity of the theory.