Robot path planning method based on Bezier optimization genetic algorithm

A genetic algorithm and path planning technology, applied in the direction of instrumentation, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problems that the robot cannot walk according to the planned path, the energy loss of the robot, etc., and achieve excellent search performance, reduced energy loss, and efficient mobility

Active Publication Date: 2019-10-18
HENAN UNIV OF SCI & TECH +1
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AI Technical Summary

Problems solved by technology

Although the genetic algorithm can plan a better path under different performance indicators, there will be many problems in the actual process, such as: there are many peaks in the obtained path, which makes the robot unable to walk according to the planned path during the moving process; There are a large number of inflection points in the path, resulting in excessive energy loss for the robot, etc.

Method used

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  • Robot path planning method based on Bezier optimization genetic algorithm
  • Robot path planning method based on Bezier optimization genetic algorithm
  • Robot path planning method based on Bezier optimization genetic algorithm

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Embodiment 1

[0087] In order to reflect the feasibility and effectiveness of the algorithm, the robot path planning problem in environment 1: 20×20 and environment 2: 10×10 grid map environment is used for verification, as shown in Figure 6 As shown, in environment 1, the starting point coordinates of the robot are (0.5, 0.5), the end point coordinates are (19.5, 19.5), and the parameters are set as: Q=30, gn=50, N=30, Q max =30, Re=0.8, Mu=0.01, w 1 =0.9,w 2 =0.1, C=1. Such as Figure 7 As shown, in environment 2, the starting point coordinates of the robot are (0.5, 0.5), the end point coordinates are (9.5, 9.5), and the parameters are set as: Q=30, gn=50, N=30, Q max =30, Re=0.7, Mu=0.01, w 1 =0.9,w 2 =0.1, C=1. .

[0088] In order to investigate the feasibility of the algorithm in this paper, the traditional ant colony algorithm (ACA), the traditional genetic algorithm (GA), the improved ant colony algorithm fused with genetic operators (GA-ACO), and the fused Bezier optimizati...

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Abstract

The invention, which belongs to the field of artificial intelligence, relates to a robot path planning method based on a Bezier optimization genetic algorithm. With a Bezier curve, an initial solutionof a genetic algorithm and paths generated in crossing and mutation processes are optimized to eliminate a peak inflection point and reduce redundant nodes, thereby improving the path smoothness. Andthen fitness functions of a safety distance and an adaptive penalty factor are added and the path obtained by the genetic algorithm is adjusted dynamically, so that the quality of the planned path isenhanced. With the provided method, a short-distance smooth path can be searched and thus the energy losses caused by frequent running state switching of the robot due to the dramatic path turning are reduced, thereby guaranteeing the safety of the robot movement.

Description

technical field [0001] The invention belongs to the field of artificial intelligence, and in particular relates to a robot path planning method fused with a Bezier optimization genetic algorithm. Background technique [0002] Path planning is an important research direction in the field of mobile robots, and it is also one of the difficulties in its research. The path planning problem can be described as: according to a certain evaluation index, search for a non-collision path from the starting point to the target point in the environment with obstacles. Path planning has been widely used in logistics distribution, intelligent transportation, weapon navigation and other fields. Therefore, research on fast and effective path planning methods has become a hot spot, which has high theoretical significance and practical value. [0003] Genetic Algorithm is a bionic optimization algorithm. It uses Darwin's biological evolution theory of natural selection, genetic inheritance an...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0088G05D1/0212
Inventor 马建伟刘洋张永新郑红运张瑞玲马友忠贾世杰
Owner HENAN UNIV OF SCI & TECH
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