轮式机器人路径规划方法的研究-控制工程专业毕业论文.docxVIP

II万方数据 II 万方数据 河北科技大学硕士学位论文 万方数据 万方数据 AbstractAbstract Abstract Abstract With the development of science and technology,more and more intelligent robots ale used in our daily life and industrial production．However the path planning is the vital guarantee for the robots to finish the advanced and complicated tasks．It solves the problem of how mobile robots walk in the environment and it has become a key topic in the study of robots．Therefore，the research to the path planning of robots is of great significance．This thesis takes the wheel robots as the object of study and does an intensive research on the methods of the path planning，mainly including the following three parts： Firstly,it analyzes the robots’path planning through the artificial potential field method．Concerning about the problem of destination unreachable and local minilnuin，it suggests to adopt the node-shift method on the basis of building a new potential field function and optimize the parameter by genetic algorithm．Thus the optimal path can be planned．That is tested and verified by MATLAB simulation experiment． Secondly,the thesis suggests to plan the robots planning by intelligent ant colony algorithm．It shows the modeling of the robots working space by grids．Analyzing the basic ant colony algorithm，the thesis designs the self-adaption but the results are not quite satisfactory．Hence it uses elitist strategy,fallback strategy,immune operator and heuristic probability formula to improve the ant colony algorithm．Based on the simulation comparison through MATLAB，it utilizes wheel robots to do the experiments，confLrming the practicability of the proved algorithm． At last the modified ant colony algorithm is led into the dynamic path planning．On the base of using nijkstra algorithm to search the whole path quickly,interference of the dynamic and static obstacles is added to the process．And then the robots successfully reach the target poillt by applying the modified ant colony algorithm to seek the part