基于遗传算法移动机器人的路径规划研究

34：［1］R.Murphy.Rescueroboticsforhomelandsecurity［J］.ComunicationsoftheACM,specialissueonhomelandsecurity,2004,27(3)：66-69.［2］S.Thrun,W.Thayer,C.Whittaker.Autonomousexplorationandmappingofabandonedmines［J］.IEEERoboticsandAutomation,2005,11(4):13-28.［3］,,.［J］.,2006,28(3):151-156.［4］S.Hirose.Studyonroller-walk(basiccharacteristicsanditscontrol)［C］.ProcICRA.IEEE,1996：3265-3270.［5］.［J］.,2003,25(2):178-181.［6］J.M.Yang,J.H.Kim.Slidingmodecontrolfortrajectorytrackingofnonholonomicwheeledmobilerobot［J］.IEEETransactiononRoboticsandAutomation,1999,15(3):578-587.：(1975-)，，.2005，，10，EI4,：、、，：0532-80681263，:[e-mail].：2009－04－03CoalMineMachineryVol.30No.9Sep.200930920099，，(，710054)：，。，，，，。：；；；：TP242：A：1003－0794（2009）09－0058－03ResearchofMobileRobotPathPlanningBasedGeneticAlgorithmCUIJian-jun，WEIJuan，LIUKun(MechanicalEngineeringInstitute，Xi’anUniversityofScienceandTechnology,Xi’an710054，China)Abstract:Thepathplanningisanimportantsubjectinmobilerobotresearch,anditplaysanimportantandindispensablepartinmobilerobotnavigation.Itpresentsamethodofpathplanningformobilerobotusinggeneticalgorithm.Gridmethodisusedtoestablishrobotmobileworkenvironmentmodel,theserialnumberisencodedinthepath,andtheappropriategeneticoperatorsareselected.Atlast,theoptimalorsub-optimalcollision-freepathcanbefoundinmobilerobotworkingenvironment.Keywords:geneticalgorithm;mobilerobot;pathplanning;optimalorsub-optimalpath0，。，，。。、、，，。!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!（c）yye（d）θe（a）（）（b）xxey/cmye/cmθe/radxe/rcm160140120100806040206050403020100-10-2030609012015018024681012141618202468101214161820246810121416182035302520151050-521.510.50（a）（）（b）xxe（c）yye（d）θey/cmye/cmθe/radxe/rcmt/st/sx/cmt/s16014012010080604020306090120150246810121416186050403020100-10-2035302520151050-5246810121416182468101214161858,。11.1。，、、、，，,。,。,。1,。：（1）1，（0,0）,x,y,。，（x,y）。（2）1，（0），，m，,1，。2m=x+10y（1）x=mod（m,10）y=floor（m,10）（2）mod———m10；floor———m10。11.2，1。,。,1：[0,1,12,23,34,45,55,66,67,78,89,99]，0,99。，，，。1.3,,,，。,。,,、,SM,。：[0，99],[0，2，23，45，75，85，97，99]。1.4,。f=（1+1n-1姨）dn———；d———。,fd,,f。1.5（1）。:①,Qi,Qn；②[0,Qn]R;③QiR,1QiRi；④②,③,。,,。,,。（2）。,。pc，p，。ps=p×pc,,。（3），，309Vol.30No.9———，59。pm0.001～0.4。（4）,，，。，，。（5）。,。,、、、、、、；,,。,,,。2MATLAB，。1。POPSIZE=20，pc=0.7,pm=0.002，50。2501，,099。f=16.3387。250，。3，,；。,。，，。，；，，。：［1］，.［J］.,1998,16(1):79－83.［2］,,.MATLAB［J］.，2008.［3］AIEXOPOUIOSC,GRIFFINPM.Pathplanningforamobilerobot［J］.IEEETransactionsonSystems.ManandCybernetics.1992.：(1983-)，，:，：[e-mail].：2009－05－12CoalMineMachineryVol.30No.9Sep.200930920099NX6.0，，，，，，，，（，030009）：，，。NX6.0，。：；；；：TD421.6：A：1003－0794（2009）09－0060－02AdvancedSimulationforRockerofShearerBaseonNX6.0DUWei,GUOSheng-long,XIEGui-jun,LIXiu-chun,FANEr-cun,ZHANGCheng-lin,MANZhong-peng,YANGYa-dong,LIWei-wei(ResearchInsitituteofTaiyuanMiningMachineryGroupCo.,Ltd.,Taiyuan030009,China)Abstract:Therockerisoneofthemainloadablepartsoftheshearer.Itisthemostimportantworkingpartinthedrivingsystems.So,havingaresearchforrockerofshearerbecomemoreandmoreimportant.AresearchofrockerforstructureintensityanalysisanddegreeweredonebyNX6.0.Thebaseofatheoryfortheoptimaldesignofrockerwasofferd.Keywords:finiteelement;stuuctureintensity;optimaldesign；rocker!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!504540353025201510500246810121416182060