动态环境中基于遗传算法的移动机器人路径规划的方法.pdfVIP

25 4 机器人　ROBOT Vol.25,No.4 2003 7 July, 2003 : 1002-0446(2003) 04-0327-04 刘国栋, 谢宏斌, 李春光 ( 214036) : ,. . , , . . . : ;; : 24: TP B METHOD OF MOBILE ROBOT PATH PLANNING IN DYNAMIC ENVIRONMENT BASED ON GENETIC ALGORITHM LIU Guo-dong, XIE Hong-bin, LI hun-guang (S chool of Comm unication and Control Eng ineer ing, S outhern Yangz e Univ ersity , W uxi 214036, China) Abstract : In the dynamic environment, mobile robot dynamic path planning is a difficult problem to solve. The paper proposesd a method of path planning based on genetic arithmetic. T his method utilizes real number coding and adaptive function w ith definite physical meaning in the dynamic environment so that the real-time operation speed and operation precision can be accelerated and improved respectively. The method makes full use of the avail- able genetic algorithms to solve dynamic path planning problem of mobile robot. omputer simulation experiment show s that, the method has good path planning ability. Keywords: robot , genetic algorithm, path planning (Introduction) 2. , , , . . , , , . . . [ 15] . , . , . . , , , . . 2.2