摘要
该文提出了一种新颖的全局静态环境未知时基于同心圆策略的机器人路径滚动规划遗传算法。该算法在机器人视野域内产生若干个同心圆进行环境建模,然后基于遗传算法根据当前机器人视野域信息和目标点规划出一条临时的导航路径,机器人沿着该导航路径前进一步,再由遗传算法重新规划新的导航路径。机器人导航路径不断进行动态修改,使机器人沿着一条全局较优化路径接近目标点。仿真试验表明,用本算法能迅速规划出一条全局较优化路径。
The problem of path planning of mobile robot in an environment where the global information is unknown is studied,and a novel rolling planning algorithm based on Genetic Algorithm is proposed.Firstly,a number of concentric circles are produced in the view of robot,and a navigation path is mapped out using Genetic Algorithm.A navigation path will gotten again using Genetic Algorithm once the robot goes forward.So,the path for the robot is altered dynamically,which will make the robot move on a globally optimal path to the ending node.Simulation results indicate that the optimal path which the robot moves on can reach to the end safely and can be rapidly ob tained.
出处
《电脑知识与技术（过刊）》
2011年第11X期7994-7995,7997,共3页
Computer Knowledge and Technology
关键词
机器人
路径规划
未知环境
遗传算法
导航路径
mobile robot
path planning
unknown environment
genetic algorithm
navigation path
