摘要
针对移动型机器人拖车系统进行了关于其路径规划问题的讨论。由于该拖车所搭载的感应设备可以实现探测"有兴趣的点"——即地下金属物,因此需要设计出一条最短路径来实现最优化。本文将该课题类比为"旅行商"问题,提出了遗传算法使其可以很好地解决该问题,并且均适用于在高密度分布以及少量点分布这两种情形。
In this paper, it discusses a path planning problem of the mobile robot -trailer system. The trailer equipped with sens- ing equipments is used to perform a surveillance mission among several ＂interested waypoints＂ that is the metallic item buried under the ground＂. An algorithm is designed to find the shortest path for the problem and the performance is evaluated in numerical study. The article treats this problem as ＂Travelling Salesman Problem＂. The proposed genetic algorithm can perform very well in both ]ow way- point density and high waypoint density situations.
出处
《山西电子技术》
2013年第6期33-34,共2页
Shanxi Electronic Technology
关键词
移动型机器人拖车
路径规划
旅行商问题
遗传算法
mobile robot- trailer
path planning
travelling salesman problem
genetic algorithm
