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研究在非结构化的环境中操作的移动机器人的最佳的运动计划系统 ,提出一种新的障碍表示法———交叉线 ,一种跟踪边界修正方法和一种混合进化运动计划算法 .实验结果表明了跟踪边界修正方法和交叉线表示法的有效性 ,并且证明了结合跟踪边界修正和进化探索能够产生最佳的或接近最佳的路径 .
An optimal motion planning system for mobile robots operating in an unstructured environment is proposed, and a new obstacle representation is proposed-crossover lines, a tracking boundary correction method and a hybrid evolutionary motion planning algorithm. The results show the effectiveness of the tracking boundary correction method and the cross-line representation, and demonstrate that the combination of tracking boundary modification and evolutionary exploration can produce the best or near-optimal paths.