| 引用本文: | 冯文镛,杨灿军,陈 鹰.ACR原型系统的全局路径规划遗传算法研究[J].控制理论与应用,2002,19(2):282~286.[点击复制] |
| FENG Wenyong,YANG Canjun,CHEN Ying.Research of Genetic Algorithm for the Global Path Planning for ACR Prototype System[J].Control Theory and Technology,2002,19(2):282~286.[点击复制] |
|
| ACR原型系统的全局路径规划遗传算法研究 |
| Research of Genetic Algorithm for the Global Path Planning for ACR Prototype System |
| 摘要点击 1130 全文点击 1503 投稿时间：1999-11-01 修订日期：2001-04-23 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 |
| 2002,19(2):282-286 |
| 中文关键词 全局路径规划 旅行商问题 遗传算法 |
| 英文关键词 global path planning traveling salesman problem (TSP) genetic algorithm (GA) |
| 基金项目 |
|
| 中文摘要 |
| ACR(物品自动运送机器人 )的全局路径规划是一种特殊而又典型的机器人路径规划问题, 可转化为一种TSP问题. 通过深入分析问题自身特性并辅以大量的仿真实验, 对遗传算法的选择、交叉、变异等操作及其相关参数作了深入细致的优化, 同时将“进化逆转”操作引入标准遗传算法框架中, 最终获得了一种性能良好的全局路径规划算法. 仿真结果表明, 此算法可在较短时间内求得最优解或准最优解. |
| 英文摘要 |
| The global path planning for autonomous conveying robot is a special and typical path planning problem, it can be transformed to a TSP problem. On the analysis of the problem characteristics and simulation results, via optimizing the selection, crossover and mutation GA operators and their parameters, and importing the "Evolve-Inversion" operator into the standard GA framework, this paper proposes a high-powered global path planning algorithm. This algorithm can find the optimal or nearly optimal solution in little time, which is proved by the simulation results. |
|
|
|
|
|