基于遗传算法的汽车式移动机器人路径规划方法

Path Planning Method Based on GA for Car Like Robots

对文题进行了数学描述，提出了一种基于遗传算法的汽车式移动机器人最短距离路径规划新方法，探索了解决非完整系统路径规划问题的新途径．利用经改装的遥控汽车模型进行了路径规划实验。

As car like robot is a kind of nonholonomic system, its path planning method should consider its nonholonomic constraints. So far, nearly all nonholonomic path planning methods are based on differential geometric or differential algebra, which are hard to solve theoretically and the shortest path planning method is only available in the absence of obstacles, but not in obstacles. This paper proposed a new shortest path planning method based on genetic algorithm for a nonholonomic car like robot amidst obstacles. It stated the considered problem in a mathematics form and showed the new method in detail. Some experiments were performed to test the new method by using a re equipped radio remote control car model. The experimental results show that the proposed method is very reasonable and feasible.