一种基于遗传算法的移动机器人自定位方法 - 模式识别与人工智能.pdf

第22 卷摇 第 1期摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 模式识别与人工智能摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 Vol.22摇 No.1 摇 2009年2月摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 PR AI摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 Feb摇 摇 2009 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 摇 一一种基于遗传算法的移动机器人自定位方法* 贺摇 锋摇 摇 秦晓丽摇 摇 方勇纯 (南开大学 机器人与信息自动化研究所 天津摇 300071) 摘摇 要摇 针对移动机器人定位研究中的位姿跟踪、全局定位和“绑架冶三类问题,提出一种基于遗传算法的移动机 器人自定位方法.设计基于位置相似度的种群适应度计算方法,利用实值编码方式实现种群的交叉、变异,有效提 高算法的实时性.针对机器人定位过程中的“绑架冶现象,在常规遗传算法的基础上引入种群发散算子,减小种群匮 乏效应.在此基础上,利用机器人运动模型更新种群状态实现机器人的连续定位.在实际室内环境进行机器人定位 实验,证实本文算法的有效性. 关键词摇 移动机器人,全局定位,“绑架冶问题,遗传算法 中图法分类号摇 TP24;TP 181 A Genetic Algorithm Based Autonomous Localization Strategy for Mobile Robots HE Feng,QIN Xiao鄄Li,FANG Yong鄄Chun (Institute of Robotics andAutomatic Information Systems,Nankai University,Tianjin300071) ABSTRACT Aiming at the three main problems in localization of mobile robots, position tracking, global localization and kidnapped problem,an autonomous localization strategy based on genetic algorithm is proposed. A fitness function is designed based on the similarity of position. The real鄄coded method is used in the crossover and the mutation steps to improve the real鄄time ability of the algorithm. For the kidnapped problem,a scattering mechanism is introduced into the regular genetic algorithm. Thus,the population impoverishment problem is largely alleviated. Subsequently,the population state is updated with the kinematic model to achieve continuous localization of mobile robots. The experimental results of indoor environment demonstrate the validity of the proposed localization strategy. Key Words摇 Mobile Robots,Global Localization,Kidnapped Problem,Genetic Algorithm *教育部