文献类型：期刊文献

中文题名：基于环境知识遗传算法的机器人路径规划方法

英文题名：Path planning based on genetic algorithm using environmental knowledge for a mobile robot

作者：张斌[1];李淑红[1]

机构：[1]河南财经学院信息学院

第一机构：河南财经政法大学计算机与信息工程学院

年份：2009

卷号：24

期号：3

起止页码：20-23

中文期刊名：郑州轻工业学院学报：自然科学版

收录：CSTPCD

基金：国家自然科学基金项目(60774014);河南省科技攻关项目(072102210001)

语种：中文

中文关键词：遗传算法;路径规划;机器人;环境知识

外文关键词：genetic algorithm; path planning; mobile robot; environmental knowledge

摘要：提出一种新的基于遗传算法的机器人路径规划方法.该方法首先用栅格模型对机器人的工作环境进行建模,然后采用遗传算法进行路径规划.采用一种新的固定长度的二进制编码,针对这种编码机制设计出相应的遗传算子,将路径与障碍物无碰要求和规划出来的路径最短要求作为适应函数,加入图搜索技术,应用邻域知识,增强遗传算法的局部搜索能力.仿真结果表明该方法是正确的和有效的.
A new global path planning approach based on genetic algorithm （GA） for a mobile robot was presented. The robot＇s workspace was represented with girds and the GA was used to find the path. A novel fixed-length binary encoding mechanism for the paths of the mobile robot was used and some genetic opera- tors corresponding to the encoding mechanism were provided at the same time. The fitness combines the col- lision-free and the shortest distance of the path as fitness function. Craph search technology and field know- ledge are used to strengthen the local search ability of genetic algorithm. Simulation results verify the effectiveness and practicability of this approach.