摘要
在矿井下由于环境较为恶劣,不适合人类长期作业,并且对于矿难发生之后,人类无法直接进入井下救援,因此一类可以在井下作业的机器人技术显得尤为重要。文章针对机器人路径规划的特点,利用栅格法对机器人的导航环境进行有效的处理,并提出了基于粒子群算法的机器人全局最优路径规划方法。该方法有效地在机器人导航环境中得以实现,相对于遗传算法,取得了较好的仿真结果。仿真实验验证了这种方法的有效性与可行性。
Due to the harsh working conditions, workers are not suitable work in coal mine for a long time. Therefore, the robotics technique in coal mine is of great concerrr According to the characteristic of robotics path plannin a grids partition was proposed to navigate for robot An artificial algorithm, Particle Swarm Optimization, is applied on this optimization problem. According to the simulation test and comparison with Genetic Algorithm, it is obvious that this strategy is feasible and effective.
出处
《煤炭技术》
CAS
北大核心
2013年第10期143-145,共3页
Coal Technology
关键词
路径规划
粒子群算法
栅格法
遗传算法
path planning
particle swarm optimization
grids partition
genetic algorithm
