CAJ | 학술논문

机器人的同时定位与地图创建技术是实现机器人移动过程中自主定位和控制的关键技术，在机器人同时定位目标的过程中，常出现路径偏移，需要进行路径偏移纠正，实现精确控制。提出一种基于多叉树混合遗传进化的机器人同时定位路径偏移纠正控制方法，首先进行多叉树混合遗传进化机器人同时定位控制建模，在对多信息融合下进行机器人同时定位，得到基于多叉树混合遗传进化的机器人同时定位路径修正测试函数。仿真实验和研究结果表明，该算法可以实现机器人同时定位路径偏移纠正，对机器人的控制精度较高，以较快的收敛速度找到了最优路径，其全局优化能力和搜索速度都得到了显著提高。
궤기인적동시정위여지도창건기술시실현궤기인이동과정중자주정위화공제적관건기술，재궤기인동시정위목표적과정중，상출현로경편이，수요진행로경편이규정，실현정학공제。제출일충기우다차수혼합유전진화적궤기인동시정위로경편이규정공제방법，수선진행다차수혼합유전진화궤기인동시정위공제건모，재대다신식융합하진행궤기인동시정위，득도기우다차수혼합유전진화적궤기인동시정위로경수정측시함수。방진실험화연구결과표명，해산법가이실현궤기인동시정위로경편이규정，대궤기인적공제정도교고，이교쾌적수렴속도조도료최우로경，기전국우화능력화수색속도도득도료현저제고。
The robot simultaneous localization and mapping technology is the key technology to realize autonomous position?ing and control during the movement of the robot, in the robot simultaneous localization of target homing process, it often ap?pears offset path, path offset correction is necessary, the precise control is achieved. A multi way tree based on the hybrid mobile robot simultaneous localization path offset correction control method is proposed, the first tree hybrid genetic evolu?tionary robot simultaneous localization and control modeling is constructed, the multi information fusion of robot simultane?ous localization, the mixed genetic evolutionary multi tree based robot simultaneous localization path correction test func?tion is obtained. The simulation and experiment results show that the algorithm can be realized, location path offset correc?tion robot is obtained. With fast convergence speed to find the optimal path, the global optimization ability and search speed can be improved significantly.