基于粗糙集理论与遗传算法的机器人路径规划方法研究-模式识别与智能系统专业论文.docxVIP

郑州大学硕士论文Abstract 郑州大学硕士论文 Abstract Mobile robot is a integrate system that includes environments apperceiving， dynamic decision—making and planning，action control and execution．Path plarming is one of the most import technique in the field of mobile robot．It is the safe guarantee that makes the mobile robot complete the mission，and it is the marking that represents the intelligence level of the mobile robot．At the same time it is also the interestedjoint which links the artificial intelligence and robotics． The methods of robot motion plarming outside and inside the country are studied． and the emphasis is put on the hybrid of rough set and genetic algorithms(GA)．Under the grid model，by the grid feasible component initial decision—making table，carries on the simplification with the rough set method to it， and to train genetic algorithm’S initial population，directly obtains a series of feasible ways by the rough set training，then solves the best way using the GA．This method is more simple than original stochastic choice process，also reduces the GA population scale．Meanwhile in the GA’S crossover probability choice，uses the hi曲 adaption value low mutation rate auto·adapted choice method，causes the outstanding individual to obtain the bigger survival probability,compares with the traditional path planning method，search efficiency quicker，the precision of evading barrier to be higher．Has carried on the simulation experiment through MATLAB software to this method，finally demonstrated this method enhanced the robot path planning speed as well as under the complex environment plan ability．Indicated the rotIgh collection and the GA union，has the certain fundamental research significance and the practical application value． Key words：RotIgh set，Genetic algorithms，Path planning 1绪论1．1引言 1绪论 1．1引言 机器人的诞生、机器人学的建立和发展是本世纪自动控制最具说服力的成 就，是20世纪人类科学技术进步的重大成就。现在全世界已经拥有将近100万 台机器人，有近万家工厂在生产机器人，销售额每年增长20％以上，机器人工 业和技术得到了前所未有的飞速发展。机器人是关键的自动化技术之一，机器 人学的研究和发展成为热点的原因在于：(1)机器人的应用可以增加生产力， 提高生产过