您所在位置网站首页 > 海量文档  > 计算机 > 数据结构与算法

fusion of probabilistic a algorithm and fuzzy inference system for robotic path planning:(融合概率算法和模糊推理系统对机器人路径规划).pdf 21页

本文档一共被下载: ,您可全文免费在线阅读后下载本文档。

  • 支付并下载
  • 收藏该文档
  • 百度一下本文档
  • 修改文档简介


特别说明: 下载前务必先预览,自己验证一下是不是你要下载的文档。
  • 上传作者 xjj2017(上传创作收益人)
  • 发布时间:2018-02-16
  • 需要金币160(10金币=人民币1元)
  • 浏览人气
  • 下载次数
  • 收藏次数
  • 文件大小:1.03 MB
fusion of probabilistic a algorithm and fuzzy inference system for robotic path planning:(融合概率算法和模糊推理系统对机器人路径规划)
Artif Intell Rev (2010) 33:307–327 DOI 10.1007/s10462-010-9157-y Fusion of probabilistic A* algorithm and fuzzy inference system for robotic path planning Rahul Kala · Anupam Shukla · Ritu Tiwari Published online: 17 February 2010 © Springer Science+Business Media B.V. 2010 Abstract Robotic Path planning is one of the most studied problems in the field of robotics. The problem has been solved using numerous statistical, soft computing and other approaches. In this paper we solve the problem of robotic path planning using a combina- tion of A* algorithm and Fuzzy Inference. The A* algorithm does the higher level planning by working on a lower detail map. The algorithm finds the shortest path at the same time generating the result in a finite time. The A* algorithm is used on a probability based map. The lower level planning is done by the Fuzzy Inference System (FIS). The FIS works on the detailed graph where the occurrence of obstacles is precisely known. The FIS generates smoother paths catering to the non-holonomic constraints. The results of A* algorithm serve as a guide for FIS planner. The FIS system was initially generated using heuristic rules. Once this model was ready, the fuzzy parameters were optimized using a Genetic Algorithm. Three sample problems were created and the quality of solutions generated by FIS was used as the fitness function of the GA. The GA tried to optimize the distance from the closest obstacle, total path length and the sharpest turn at any time in the journey of the robot. The resulting FIS was easily able to plan the path of the robot. We tested the algorithm on various complex and simple paths. All paths generated were optimal in terms of path length and smoothness. The robot was easily able to escape a variety of obstacles and reach the goal in an optimal manner. R. Kala ( ) B Indian Institute of Information Technology and Management Gwalior, Room No. 101, Boys Hostel-1, ABV


用户名: 验证码: 点击我更换图片

“原创力文档”前称为“文档投稿赚钱网”,本站为“文档C2C交易模式”,即用户上传的文档直接卖给(下载)用户,本站只是中间服务平台,本站所有文档下载所得的收益归上传人(含作者)所有【成交的100%(原创)】。原创力文档是网络服务平台方,若您的权利被侵害,侵权客服QQ:3005833200 电话:19940600175 欢迎举报,上传者QQ群:784321556