Mobile-robot route planning method based on improved genetic algorithm

Abstract

The invention relates to a mobile-robot route planning method based on an improved genetic algorithm. A raster model is adopted to preprocess a working space of a mobile robot, in a rasterized map, an improved rapid traversing random tree is adopted to generate connections of several clusters between a start point and a target point, portions for the mobile robot to freely walk on in the working space are converted into directed acyclic graphs, and a backtracking method is adopted to generate an initial population which is abundant in diversity and has no infeasible path on the basis of the directed acyclic graphs. Three genetic operators, namely a selection operator, a crossover operator and a mutation operator, are adopted to evolve the population, wherein the selection operator uses a tournament selection strategy, the crossover operator adopts a single-point crossover strategy, and the mutation operator adopts a mutation strategy which displaces an aberrance point with an optimal point in eight-neighbor points of the aberrance point. A quadratic b-spline curve is adopted to smooth an optimal route, and finally, a smooth optimal route is generated. According to the method, the route planning capability of the mobile robot under a complex dynamic environment is effectively improved.

Description

technical field [0001] The invention relates to a path planning method for a mobile robot based on an improved genetic algorithm, in particular to a path planning method for a mobile robot based on an improved genetic algorithm in a complex dynamic environment. Background technique [0002] Path planning for mobile robots refers to finding the shortest collision-free smooth path between the starting point and the ending point, which is a hot and essential research problem in the field of robotics. As robots are more and more widely used in the industrial field, the requirements for the ability to interact with the external environment are also increasing. Robots need to solve the following problems: determine where they are, where they should go, and how to get there. The last problem is the so-called path planning problem. The research on robot path planning began in the 1970s. Scientists at home and abroad have carried out research on path planning from various aspects su...

AI Technical Summary

Problems solved by technology

The invention patent "Path Planning Algorithm" (application number: 201410757261.8) proposes a path planning algorithm that uses a characteristic circle to replace irregular obstacles in reality, and only calculates the coordinates of three points instead of calculating all points of the obstacle coordinates, which greatly saves the calculation amount of the robot controller, saves the calculation time, and enables the robot to quickly and accurately calculate the optimal path. In this method, the replacement of the irregular obstacle by the characteristic circle changes the real coverage of the obstacle. area, it is easy to affect the quality of the planned path, and the path planning algorithm adopted is only suitable for the path planning of mobile robots in simple environments

Invention patent "Lambda* Path Planning Algorithm" (Application No.: 201310488139.0), which proposes a Lambda* path planning algorithm to improve the existing A* algorithm that contains many nodes in the open table and consumes a lot of time

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