CAJ | 학술논문

为解决动态环境中足球机器人的路径规划问题，采用栅格法对机器人工作空间进行划分，用序号标识栅格，并以此序号作为机器人路径规划参数编码，建立了以路径最短、避障为优化目标的遗传算法个体评价函数．采用轮盘赌选择、重合点交叉、多种变异结合等方法完成了遗传操作．针对遗传算法易陷入局部最优的不足，在标准遗传算法基础上加入了复原操作和重构操作，使改进后的遗传算法收敛于全局最优．仿真结果表明：该算法能够成功地在动态环境里规划出一条近似最优的路径，算法是有效的．
위해결동태배경중족구궤기인적로경규화문제，채용책격법대궤기인공작공간진행화분，용서호표식책격，병이차서호작위궤기인로경규화삼수편마，건립료이로경최단、피장위우화목표적유전산법개체평개함수．채용륜반도선택、중합점교차、다충변이결합등방법완성료유전조작．침대유전산법역함입국부최우적불족，재표준유전산법기출상가입료복원조작화중구조작，사개진후적유전산법수렴우전국최우．방진결과표명：해산법능구성공지재동태배경리규화출일조근사최우적로경，산법시유효적．
In the dynamic environment, solve. The paper proposed a method of path p move in a two-dimensional workspace soccer robot dynamic path planning is a difficult problem to lanning based on genetic arithmetic. The robot was supposed to with some obstacles in it. The grids were used to discrete the two-di- mensional workspace. Sequence number of the grid was used to code the moving path of the robot. The se- quence number was so defined that one grid corresponded to only one sequence number. This paper presented an adaptive genetic algorithm function, by which the soccer robot could move along the shortest path and avoid obstacles. And by the roulette wheel selection, coincident- point crossover and combined mutation, the ge- netic operation was completed. For the disadvantage of research convergence of the previous genetic algo- rithm, restoration operation and reconstruction operation were added to the standard genetic algorithm to make the algorithm converge to a global optimum. This algorithm was tested in dynamic environments. The simula- tion experiments showed that this algorithm was able to plan a better path rapidly and thus validated the effec- tiveness of the proposed approach.