动态环境下粗糙集遗传算法移动机器人路径规划-机械工程专业论文.docxVIP

Mobile Robot Path Planning Based on Rough Set Genetic Algorithm in Dynamic Environment ABSTRACT The mobile robotics represents the development frontier of high-tech which is a hot research direction at present, while the path planning, as a crucial link of the autonomous mobile robotic research, is the key technology for intelligent robots, so it also becomes a hotspot. Based on the analysis of the advantages and disadvantages of the various path planning methods, the genetic algorithm is adopted as the base of path planning research. However, the planning speed of existing genetic algorithm for path planning was slow, and in complex environment especially a dynamic environment it is difficult to meet the real-time requirement of mobile robot. Although there are many improved genetic algorithm, but the effect is also not satisfactory. To solve this problem, rough sets is introduced into the genetic algorithm in this paper. It focused on the applications of rough set genetic algorithm in a static global path planning of mobile robot, and proposed rough set genetic algorithm based path planning of mobile robot in a dynamic environment. In the static global path planning, at first, under the grid model and by the feasibility of the grids, the initial decision-making table of the robot is obtained, which can be simplified by the rough set theory to extract the minimal decision-making rules. We use these rules to train the initial population of the genetic algorithm (GA), and then solve the best path using GA. Compared with the initial population of GA generated randomly, the initial population of GA simplified by rough sets suggest that the effect of this suggested RSGA is significant at optimizing the robot path planning speed, especially in the complicated environments. In the local path planning containing dynamic obstacles of uniform motion, under the conditions that the global environment is known, the robot relies on their own visual and ultrasonic sensors to det