【作者】 梁凯；

【导师】 王宏伟；

【作者基本信息】 新疆大学 ， 控制科学与工程， 2018， 硕士

【摘要】 机器人路径规划是机器人技术中最重要的研究方向之一,随着国内外学者对路径规划方法的研究不断增多,使得机器人的应用范围越来越宽,对人们的生活、社会的发展以及科学技术的创新都有很大的影响。路径规划,即为在给定的工作环境中,机器人能根据任务要求寻找到一条路径,且这条路径能连接起点和终点,还能绕开所有障碍物的过程。本文的主要研究内容如下所示:1.对移动机器人路径规划的意义、发展趋势、国内外研究现状等进行了了解,并研究分析了传统的路径规划方法和智能的路径规划方法。2.学习了基本遗传算法(GA),并分析了其优缺点,针对由于初始种群质量的影响使得遗传算法寻优精度低和收敛速度慢的问题,提出间断无障碍的方法来生成初始种群,并对遗传操作进行了新的设计。将改进后的遗传算法应用到路径规划中来验证其有效性。3.学习人工鱼群算法(AFSA)的理论知识、优化步骤等,分析其优缺点。针对由于行为选择而使得人工鱼群算法容易陷入局部最优的情况,提出了新的行为选择策略,同时对觅食行为也进行了改进。将改进后的人工鱼群算法应用到机器人路径规划中,改进效果良好。4、通过对人工鱼群算法和遗传算法优缺点的分析,提出了将人工鱼群算法和遗传算法相结合的路径规划方法。其主要思路是在栅格环境中通过人工鱼的聚群、追尾及觅食行为对节点进行寻优选择,实现路径的搜索,搜索到的路径看成是遗传算法的初始种群,再通过遗传算法来实现最优路径的求解;最后通过仿真对三种算法进行了对比,验证了人工鱼群遗传算法的可行性和优越性。更多还原

【Abstract】 Robot path planning is one of the most important research directions in robot technology.Along with the domestic and foreign scholars research on path planning method increasing,it makes the application range of robots increasingly wide,and it has great influence on people’s life,the development of society and the innovation of science and technology.Path planning is that the robot can find a path according to the task requirements,and the path need to meet the requirement to connect the starting point and the end,but also to bypass all obstacles.The main contents of this paper are as follows:1.The significance,development trend and current research situation of mobile robot path planning are understood,and the traditional path planning method and intelligent path planning method are studied and analyzed.2.The basic genetic algorithm is studied,and its advantages and disadvantages are analyzed.Aiming at the problem of low precision and slow convergence of genetic algorithm due to the effect of initial population quality,a discontinuous and barrier-free method is proposed to generate initial population.A new design of genetic manipulation is also carried out.The improved genetic algorithm is applied to path planning to verify its effectiveness.3.Learn the theoretical knowledge and optimization steps of artificial fish swarm algorithm,and analyze its advantages and disadvantages.In order to solve the problem that artificial fish swarm algorithm is easy to get into local optimum due to the behavior selection,a new behavior selection strategy is proposed and the foraging behavior is improved.The improved artificial fish swarm algorithm is applied to robot path planning,good effect.4.By analyzing the advantages and disadvantages of artificial fish swarm algorithm and genetic algorithm,a path planning method combining artificial fish swarm algorithm and genetic algorithm is proposed.The main idea is to select the nodes through the clustering,rear-end and foraging behavior of artificial fish in the grid environment,and to realize the path search.The searched path is regarded as the initial group of genetic algorithm.Through genetic algorithm to achieve the solution of the optimal path;finally through the simulation,the three algorithms are compared to verify the feasibility and superiority of artificial fish swarm genetic algorithm.更多还原