CAJ | 학술논문

移动机器人的路径规划是机器人研究的重要领域。文中旨在研究遗传算法对于机器人路径规划问题的适用性。对于路径规划的目标，提出了基于路径长度、路径平滑度和路径安全度等因素综合衡量的方法，并在传统的遗传算法的交叉、变异操作的基础上，针对路径规划问题的特点，增加了捷径寻找、障碍避让、平滑优化等方法。实验表明，此算法在存在形状复杂的障碍物的静态环境中表现良好，其效率与准确性皆满足机器人路径规划的要求。
이동궤기인적로경규화시궤기인연구적중요영역。문중지재연구유전산법대우궤기인로경규화문제적괄용성。대우로경규화적목표，제출료기우로경장도、로경평활도화로경안전도등인소종합형량적방법，병재전통적유전산법적교차、변이조작적기출상，침대로경규화문제적특점，증가료첩경심조、장애피양、평활우화등방법。실험표명，차산법재존재형상복잡적장애물적정태배경중표현량호，기효솔여준학성개만족궤기인로경규화적요구。
Path planning is an important subject in mobile robot research area. It aims to verify the feasibility of genetic algorithm towards mobile robot path planning problem. The goal of path planning is measured by the combination of path length,path smoothness and path safety. Besides traditional operators of crossover and mutation in genetic algorithm,there are additional methods such as shortcut seeking, obstacle avoidance and smoothness optimization. Through experiments,the algorithm performs well in static environment with obstacles in complex shapes and its efficiency and accuracy satisfies the requirements of the problem.