CAJ | 학술논문

研究在非结构化的环境中操作的移动机器人的最佳的运动计划系统,提出-种新的障碍表示法--交叉线,一种跟踪边界修正方法和一种混合进化运动计划算法.实验结果表明了跟踪边界修正方法和交叉线表示法的有效性,并且证明了结合跟踪边界修正和进化探索能够产生最佳的或接近最佳的路径.
연구재비결구화적배경중조작적이동궤기인적최가적운동계화계통,제출-충신적장애표시법--교차선,일충근종변계수정방법화일충혼합진화운동계화산법.실험결과표명료근종변계수정방법화교차선표시법적유효성,병차증명료결합근종변계수정화진화탐색능구산생최가적혹접근최가적로경.
This paper presents an optimal motion planning system for mobile robots operating in unstructured environments. We have developed a new obstacle representation method named cross-line, a follow boundary repair approach, and a hybrid evolutionary motion planning algorithm. A group of experiments are conducted that indicate the effectiveness of follow boundary repair approach and cross-line representation. These results also demonstrate that optimal/near optimal paths can be generated through combining the follow boundary repair and evolutionary search.