CAJ | 학술논문

介绍了一种新的移动机器人基于多边形的地图创建方法(三角形法)和在此基础上的基于遗传算法的移动机器人路径规划算法,并进行了仿真试验.三角形法是在可视图法的基础上,通过删除冗余的地图信息而得到的一种更加精简更能清楚表现障碍物之间关系的地图创建方法.在此基础上实现遗传算法路径规划,通过快速的迭代便能够找到最优的路径.
개소료일충신적이동궤기인기우다변형적지도창건방법(삼각형법)화재차기출상적기우유전산법적이동궤기인로경규화산법,병진행료방진시험.삼각형법시재가시도법적기출상,통과산제용여적지도신식이득도적일충경가정간경능청초표현장애물지간관계적지도창건방법.재차기출상실현유전산법로경규화,통과쾌속적질대편능구조도최우적로경.
A kind of mobile robot map creation method ( triangle method) based on polygons and on this basis, the genetic algorithm method based mobile robot path planning algorithm were introduced, and a simulation experiment was carried out. The triangle method is a kind of map creation method, which could express more simply and clearly the relationship among the barriers, obtained by the deletion of redundant map information on the basis of visibility graph method. The genetic algorithm path planning was achieved on this basis, and the optimal path could be easily found by means of rapid iteration.