【作者】 乔永兴；

【导师】 张增芳； 李陶深；

【作者基本信息】 广西大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 关于智能机器人的研究近年来一直吸引着众多学者的注意。智能机器人有着巨大的应用潜力，其应用领域包括自动驾驶、导游、未知区域的探索、核电站的维护、无人工厂中的产品运输等等，智能机器人控制技术的发展将对人们的生产、生活产生深远影响。作为一个复杂的智能控制系统，智能机器人涉及人工智能、自动控制。传感器技术、图像识别等多门学科。 本文首先对机器人学的发展历史和研究动向作了简要的回顾和展望，并扼要介绍了自主式移动机器人的关键技术、体系结构和研究方法，以及对环境信息的建立、获取和路径规划的几种主要算法做了简单阐述。 然后讨论了本文以下三个方面的研究重点： 1、在移动机器人全局路径规划中采用多样性指导进化算法，它在一定程度上解决了早熟现象。 2、为了提高遗传算法在全局路径规划中的性能，提出了新的算子---基因修复算子，此算子在实验中，极大地减少了全局路径规划所需时间，非常明显地提高了遗传算法的效果。广西人学MD：论义 自主式移动机器人的路径规划 3、为了使机器人在实际行进中的路线更加平滑、更加合理，从 仿生学的角度研究，利用全局路径规划结果为行进指引方向， 在实际行进中，实时检测周围环境避障，克服局部路径规划 的盲目性。 最后是仿真实验系统的简单说明和实验分析以及对全文的总结。更多还原

【Abstract】 Current research and development of Intelligent Robot have attracted the attention of a lot of researchers. This is due to the great application p otential o f I ntelligent R obot. P ossible applications i nclude automatic freeway driving, tourist guiding, exploration of unknown regions, service and maintenance in nuclear power station, product transfer in automation factory and etc. The development of it will immensely influence human production and life. As a complicated intelligent control system, the Intelligent Robot has close relation to many technologies such as artificial intelligence, automatic control, sensor technology and image recognition.This paper firstly gives a brief review and. outlook to the generation and development of Robotics. The systematic structure andthe research method of Autonomous Mobile Robot are concisely introduced and; the building and getting of environment and some algorithms of path planning are also simply represented.Then this paper discusses the following three research emphasis:1. In parts, Diversity-Guided Evolutionary Algorithms which is applied in the Path Planning of Robots avoids the prematurely convergence.2. In order to enhance the performance of the genetic algorithms (GA) for the global path planning, new o perator (the g ene repair operator) is offered, which save immensely the time of the global path planning and improve very appreciably the effect of the genetic algorithms.3. In point of the bionics, in order to make the actual trajectory of the robot more smooth and more reasonable, the robot uses the result of the global path planning as the march forward direction and detects the realtime surroundings in the march. This method overcomes the blindness of the local path planning .Finally, the paper illuminates simply the simulation system and the analysis of experiment and summarizes.更多还原