采用跟踪边界修正和进化探索实现最佳的运动计划(英文)

Optimal Motion Planning Using Follow Boundary Repair and Evolutionary Search

研究在非结构化的环境中操作的移动机器人的最佳的运动计划系统 ,提出一种新的障碍表示法———交叉线 ,一种跟踪边界修正方法和一种混合进化运动计划算法 .实验结果表明了跟踪边界修正方法和交叉线表示法的有效性 ,并且证明了结合跟踪边界修正和进化探索能够产生最佳的或接近最佳的路径 .

This paper presents an optimal motion planning system for mobile robots operating in unstructured environments. We have developed a new obstacle representation method named cross_line, a follow boundary repair approach, and a hybrid evolutionary motion planning algorithm. A group of experiments are conducted that indicate the effectiveness of follow boundary repair approach and cross_line representation. These results also demonstrate that optimal/near optimal paths can be generated through combining the follow boundary repair and evolutionary search.