The Study Of The Path Planning For Robots Based On The Extension Genetic Algorithms

Path planning is the key technology of Mobile Robot and the hotspot of the certain research domain. In this paper, the work is intended to improve the intelligence of the mobile robot and made the beneficial result.First, the birth and development of the network robot was briefly reviewed. The concept and algorithms of path planning was introduced, And then made the kinematical model of the wheel type mobile robot.Second, basic theory of genetic algorithm and Extension was consummated, which is followed with the putting forward the theory of Extension-genetic algorithm. The comparison between basic genetic algorithm and Extension-genetic algorithm through emulation proved that the Extension-genetic algorithm has the merits in speed of convergence and stable of performance.Third, the experimental system for emulation of path planning of mobile robot was constructed. Three examples of different complexity were selected for tests which adopted the algorithms the paper put up. Through the test, it was proved that the algorithm could adapt the different situations and environments. Combined with sketch map and data sheet of emulation results, it was concluded that the experience of the perform law of the algorithm which is favorable to spread and apply of the Extension-genetic algorithm.Finally, it was realized that the remote control part use the network camera in taking the pictures of targets and surroundings, the operator receives the feedback and plans the route by the algorithm and controls the robot so that the robot tracks the target in complex environments could be achieved.