| 基于差分进化算法的时间最优路径规划 |
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| 引用本文： | 冯旭. 基于差分进化算法的时间最优路径规划[J]. 海南师范大学学报(自然科学版), 2005, 18(3): 214-217 |
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| 作者姓名： | 冯旭 |
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| 作者单位： | 西北民族大学,现代教育技术学院,甘肃,兰州,730030 |
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| 摘 要： | 提出了一种利用差分进化算法进行机器人路径规划的方法,在极坐标系下采用路径点列的极角和极径作为参数进行个体成员的矢量合成,生成的初始路径点集经过提练处理极大提高机器人移动速度;仿真结果表明该方法可以解决大范围、多障碍环境的机器人路径规划问题.
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| 关 键 词： | 差分进化算法 路径规划 极坐标 |
| 文章编号： | 1671-8747(2005)03-0006-04 |
| 修稿时间： | 2005-06-18 |
Time optimal path planning based on differential evolution algorithm |
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| FENG Xu. Time optimal path planning based on differential evolution algorithm[J]. Journal of Hainan Normal University:Natural Science, 2005, 18(3): 214-217 |
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| Authors: | FENG Xu |
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| Abstract: | This paper presented a novel method for robot path planning using the differential evolution(DE) algorithm under polar coordinate space.A single parameter vector was constructed by the polar angles and polar distance of waypoints and a refining process was adopted to remove the unnecessary points of path made by DE algorithm.Results of simulation show that this path planning method can be used to generate a path in the complex and multi-obstacle environment for the robot. |
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| Keywords: | differential evolution(DE) path planning polar coordinates |
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