基于遗传算法的移动机器人路径规划研究.docx

基于遗传算法的移动机器人路径规划研究
摘要：
移动机器人的路径规划是机器人技术中的重要问题，对于机器人在复杂环境下的移动至关重要。传统的路径规划算法在已知环境下表现良好，但在未知环境下效果欠佳。因此，本文提出了一种基于遗传算法的移动机器人路径规划方法。该方法通过优化目标函数实现自适应路径规划，能够在未知环境下对机器人进行有效的路径规划，并在实验中进行了验证。
关键词：移动机器人；路径规划；遗传算法；自适应；未知环境
Abstract：
Pathplanningformobilerobotsisanimportantprobleminroboticstechnology,whichiscrucialforthemovementofrobotsincomplexenvironments.Traditionalpathplanningalgorithmsperformwellinknownenvironmentsbutperformpoorlyinunknownenvironments.Therefore,thispaperproposesapathplanningmethodformobilerobotsbasedonageneticalgorithm.Themethodrealizesadaptivepathplanningbyoptimizingtheobjectivefunction,whichcaneffectivelyperformpathplanningforrobotsinunknownenvironmentsandhasbeenverifiedexperimentally.
Keywords:mobilerobot;pathplanning;geneticalgorithm;adaptive;unknownenvironment
1.Introduction
Withthedevelopmentofscienceandtechnology,mobilerobotshavebeenwidelyusedinvariousfieldssuchasindustry,agriculture,medicaltreatment,andmilitary.Pathplanningisanimportantissueinthemovementofmobilerobots,whichisfundamentaltoensurethesafety,efficiency,andaccuracyofrobot'smovement.TraditionalpathplanningalgorithmsincludeDijkstra,A*andotheralgorithms,whichhaveachievedgoodresultsinstructuredenvironments.However,thesealgorithmsdonotperformwellinunknownordynamicenvironments.
Tosolvethisproblem,researchershaveproposedvariouspathplanningmethodsformobilerobots,suchasartificialpotentialfieldmethod,fuzzylogicmethod,andgeneticalgorithm.Amongthem,geneticalgorithmisakindofadaptiveoptimizationalgorithmbasedonbiologicalevolutionprinciples,whichhasthecharacteristicsofhighoptimizationefficiencyandgoodrobustness.Therefore,thispaperproposesapathplanningmethodformobilerobotsbasedongeneticalgorithm,whichcaneffectivelyperformpathplanningformobilerobotsinunknownenvironments.
2.GeneticAlgorithm
Geneticalgorithmisanoptimizationmethodbasedontheprinciplesofnaturalevolutionandgenetics.Itsimulatestheprocessofnaturalselectionandsurvivalofthefittestinthealgorithmandusesasetofparametersorstructurestorepresenttheindivid