| At present, with the development of intelligent robotics, People put forward higherrequests for the Mobile Robot Navigation, dynamic obstacle avoidance, Path Planningetc. The robot motion of the varied and complex environments determines mobilerobot’s the path planning problem which is a key research area in the field of intelligentrobots. As a mobile robot path planning is an important research content of the mobilerobot study, it is a mobile robot index according to the performance (such as distance,time and energy, etc.) form the beginning to the end to find a optimal or Sub-optimalpath without collision target state, which is as smooth and safe as possible.First of all, this paper is based on describing the mobile robot research status andits development trend, and focus on a path planning method based on the geneticalgorithm. Create a simple and accurate environmental models using the grid method,and grid marked with a serial number of grid environments and obstacles to freedomand join the grid in the path of intermittent accessibility heuristic method of forminginitial population.Secondly, in order to avoid obstacles and paths shorter as the main target, for thedesign of a new fitness function, which takes into account not only avoid obstacles andpath length messages, and taking into account the robot to walk robustness.Finally, the initial population randomly generated by the path selection (roulettewheel selection method), cross (multi-point cross method), variation (mutation variousvariations and multi-point method), and taking into account the continuity of the path,the genetic algorithm to generate the path mostly off line, add insert and deleteoperations. Paper is in a static environment, global path planning for mobile robot,using C++simulation on mobile robot path planning simulation to verify the validityof the bionic intelligent algorithm. Ultimately to research uAgent-RRS robot as a platform to verify the algorithm in a laboratory environment. |
PDF Full Text Request