遗传算法在武装机器人稳定平台控制中的应用

Genetic Algorithm Application in Optimized Control on the Armed Robot's Turntable

为了进一步提高武装机器人稳定平台的控制效果,达到武装机器人在复杂野外环境下的作战要求,使用遗传基因算法对控制武装机器人的稳定平台的模糊控制器进行了优化。首先对模糊控制器的控制规则进行编码,确定种群和个体,然后通过复制、交叉、变异、选择,利用适应度函数选择出更优的个体,进而改良模糊控制器。通过实验仿真证明:利用遗传基因算法优化后的模糊控制器对武装机器人稳定平台的控制效果得到了大幅的提升,遗传基因算法在优化模糊控制器,提升模糊控制器对武装机器人稳定平台控制效果上具有很好的作用。

In order to further improve the control effect on the armed robot＇ s turntable and achieve the op- erational requirements in complex field environment, the genetic algorithm was adopted in this paper to op- timize the fuzzy controller controlling the armed robot＇ s turntable. Firstly, the control rules of fuzzy con- troller were encoded to confirm the populations and individuals. Secondly, after replication, crossover, mutation and selection, a better individual was selected by using the fitness function; finally, the fuzzy controller optimization was finished. The foregoing simulation experiment proves that after being optimized by the genetic algorithm, the fuzzy controller＇ s control effect on the armed robot＇ s turntable is greatly im- proved. Thus the genetic algorithm plays an effective role in optimizing the fuzzy controller and improving the tuzzy controller＇ s control effect on the armed robot＇ s turntnhl,~