Dynamic Planning Navigation Technique Optimized with Genetic Algorithm

Atila V. F. M. De Oliveira, Marcelo A. C. Fernandes
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引用次数: 5

Abstract

This article proposes a new dynamic planning navigation strategy for use with mobile terrestrial robots. The strategy was applied to situations in which the environment and obstacles were unknown. After each displacement event, the robot replanned its route using a control algorithm that minimized the distance to the target and maximized the distance between the obstacles. Using a spatial localization sensor and a set of distance sensors, the proposed navigation strategy was able to dynamically plan optimum routes that were free of collisions. Simulations performed using different types of environment demonstrated that the technique offers a high degree of flexibility and robustness, and validated its potential use in real applications involving mobile terrestrial robots.
遗传算法优化的动态规划导航技术
本文提出了一种用于移动地面机器人的动态规划导航策略。该策略适用于环境和障碍未知的情况。在每次位移事件发生后,机器人使用一种控制算法重新规划其路线,该算法使到目标的距离最小化,并使障碍物之间的距离最大化。利用空间定位传感器和一组距离传感器,该导航策略能够动态规划无碰撞的最优路线。使用不同类型环境进行的模拟表明,该技术提供了高度的灵活性和鲁棒性,并验证了其在涉及移动地面机器人的实际应用中的潜在用途。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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