| 基于免疫算法和人工势场的移动机器人路径规划 |
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| 引用本文： | 刘芳.基于免疫算法和人工势场的移动机器人路径规划[J].教育技术导刊,2008,7(4):51-53. |
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| 作者姓名： | 刘芳 |
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| 作者单位： | 沈阳理工大学理学院 辽宁沈阳110168 |
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| 摘 要： | 分析了人工势场模型存在的两个问题:目标不可到达问题和由于局部最优解的存在而产生的死锁问题。在人工势场路径规划的基础上,提出了基于免疫算法和人工势场法的最优路径规划方法。通过仿真算例验证了该模型的有效性。
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| 关 键 词： | 人工势场 移动机器人 路径规划 免疫算法 |
Robot Path Planning Based on Artificial Potential Field and Immune Algorithm |
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| Liu Fang.Robot Path Planning Based on Artificial Potential Field and Immune Algorithm[J].Introduction of Educational Technology,2008,7(4):51-53. |
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| Authors: | Liu Fang |
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| Abstract: | The problems of goals nonreachable with obstacles nearby(GNRON) and dead lock caused by local minimum were described when using artificial potential field methods for mobile robot path planning.Based on artificial potential field method path planning,a new way of optimizing the path using improved potential field and immune algorithm was proposed.The results of simulation verify that the new method can solve effectively the problem of dead lock caused by the defects of the APF model,and can complete the task of path planning in complex environment. |
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| Keywords: | Artificial Potential Field(APF) Immune Algorithm Mobile Robot Path Planning |
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