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ID:39402912
大小:261.50 KB
页数:65页
时间:2019-07-02
《基于遗传算法的移动机器人路径规划研究》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、江南大学硕士学位论文基于遗传算法的移动机器人路径规划研究姓名:杜宗宗申请学位级别:硕士专业:控制理论与控制工程指导教师:刘国栋20090501AbstractAbstract砀emobilerobotisanimportantbranchofthefieldofrobot,Inparticular,path—planningiscriticaltomobilerobotsystembecauseitdeterminesthequalityoftherobot’Stask.Asaresult,path-planninghasattainedmoreandmoreatte
2、ntioninthefieldofmobilerobot.Inthisthesismobilerobotpathplanningincludestwoaspects:obstacleavoidancepathplanningandTSPpath-planningproblem.Obstacleavoidancepathplanningisachievingthebestpathfromstartingpomtogoalpointbyavoidingallbarriers.Tllepathsearchingdependsononeormoreoptimizationru
3、les.TSPpath—planningistheproblemsomeknowndistancebetweenthecity,hasasalesmantobevisitedthesecities,andvisiteachcityonlyonce,finallyreturntothestartingcity,howtoarrangethevisittothecityofhisorder,makeitstotalshortestlengthrouteoftravel.T11isthesisfirstdiscussesthedevelopmentsituationofpa
4、thplanningintechnologyandapplicationmethod,andpointsoutthesignificanceofthisprojectandthemainresearchcontents.Thenbasedongeneticalgorithmandsimulatedannealingalgorithm,analyzestheiradvantagesanddisadvantages.Andthetwoalgorithmscombiningconstitutethegeneticsimulatedannealingalgorithm;ith
5、asstrongglobalandlocalsearchability,inlargenumberofvariables,especiallyprominent.ThegeneticsimulatedannealingalgorithmiSusedtoobstacle—avoidingpathplanning,andadoptsnewinitialpopulationgenerationalgorithm,thesimulationresultsshowthatthisalgorithmmakemobilerobotpathplanningtoimprovetheob
6、stacle-avoidanceconvergencespeed,achievegoodplanningeffect.FinallytodiscusstheuseofgeneticalgorithmtosolveTSPpath-planningproblem,thebasicgeneticalgorithmtosolveTSPpath—planningproblemhasbeenimproved.Inordertosolvetheinconsistencybetweendiversityandconvergentspeed,thepaperalsoadoptedpro
7、babilitygreedymethodproduceoriginalpopulation,somegreedymethodtogenerateinitialpopulation,theinitialpopulationgenerationmethodslightlyworsethanthegreedymethod,butthelevelofindividualdiversityisbetterthangreedymethod.Inthewholeprocessofgeneticalgorithm,keeppopulationdiversity,im
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