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Robot Path Planning Method Based on Genetic Algorithm and Improved Artificial Potential Field Method

An artificial potential field method and genetic algorithm technology, applied in the field of robot path planning, can solve problems such as unreachable goals, local optimum, and poor adaptability to dynamic environments, so as to avoid local minimum problems and improve quality and efficiency.

Active Publication Date: 2022-03-29
CHINA UNIV OF GEOSCIENCES (WUHAN)
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Problems solved by technology

[0003] The present invention proposes a robot path planning method based on genetic algorithm and improved artificial potential field method, aiming to solve the problems of local optimum, unreachable target and poor adaptability to dynamic environment in the robot path planning method based on traditional artificial potential field method technical issues

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  • Robot Path Planning Method Based on Genetic Algorithm and Improved Artificial Potential Field Method
  • Robot Path Planning Method Based on Genetic Algorithm and Improved Artificial Potential Field Method
  • Robot Path Planning Method Based on Genetic Algorithm and Improved Artificial Potential Field Method

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[0049] In order to make the purpose, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0050] The invention proposes a mobile robot path planning method based on a genetic algorithm and an improved artificial potential field method, which is used to obtain optimal or near-optimal path planning and realize global optimization of the mobile robot.

[0051] Please refer to figure 1 , figure 1 Be the flow chart of the mobile robot path planning method based on genetic algorithm and improved artificial potential field method of the present invention; The concrete steps of this method comprise as follows:

[0052] Step S1, using the artificial potential field method to model the environment of the mobile robot's working area to obtain an artificial potential field environment model, the specific process is as follows:

[0053] The artificial p...

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Abstract

The invention provides a robot path planning method based on a genetic algorithm and an improved artificial potential field method, and belongs to the technical field of robot path planning methods. The method includes the following steps: using the improved artificial potential field method to carry out environmental modeling on the working area of ​​the mobile robot; setting relevant parameters, including the relevant parameters of the artificial potential field method and genetic algorithm; selecting the reciprocal of the resultant potential field strength of the artificial potential field As the fitness function of the genetic algorithm, and calculate the fitness function value; use the genetic algorithm to optimize the coding parameters to obtain the optimal parameters, calculate the path point of the robot according to the optimal parameters, and finally in the complex multi-obstacle Find the optimal path in the environment of objects. The invention not only solves the defects of the traditional potential field method, avoids falling into local extremum points and eliminates oscillation points, but also improves the global optimal solution or near-optimal solution of robot path planning by using the characteristics of genetic algorithm, and has great impact on path quality and planning Efficiency has been greatly improved.

Description

technical field [0001] The invention relates to the field of robot path planning, in particular to a robot path planning method based on a genetic algorithm and an improved artificial potential field method. Background technique [0002] Since mankind entered the new century, new technologies represented by the Internet, big data, and artificial intelligence have accelerated their integration with manufacturing, which has promoted the progress and maturity of intelligent manufacturing. At the same time, new technologies and new products related to robots continue to emerge, which have become a new driving force for a new round of technological revolution and industrial revolution, which not only changed people's lives, but also provided a breakthrough for the development of the manufacturing industry. The level of a country's intelligent robot technology symbolizes the country's comprehensive strength in automation, artificial intelligence, self-adaptation, and industrial co...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221
Inventor 刘峰贺华玲
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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