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Robot obstacle avoidance algorithm

Author: LiuShiCong
Tutor: RenWeiJian
School: Northeast University of Petroleum
Course: Oil \u0026 Gas Information and Control Engineering
Keywords: Robot Obstacle Avoidance Planning Genetic Algorithms Chaos Hybrid Programming
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 697
Quote: 1
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Abstract


Robotics and artificial intelligence is developing rapidly, making intelligent robot research has been more extensive attention, which , how to enhance the performance of the autonomous robot obstacle avoidance years scholars have become the main research topics. This article studies the robot obstacle avoidance algorithm for robot obstacle avoidance when planning genetic algorithm easy to fall into local optimal solution and slow convergence issues , design a genetic algorithm based on chaotic obstacle avoidance planning method . The main contents include: This paper focuses on Chaos Genetic Algorithm for mobile robot obstacle avoidance . The two-dimensional geographic information coding simplified into a one-dimensional coding ; simplification algorithm relationship with the mobile robot itself ; in the basic genetic algorithm based on the use of adaptive selection probability , and the introduction of Chaos , thereby enhancing the mobile robot path planning algorithm Lu rod resistance, genetic algorithm to solve the general premature and slow convergence problem . Using MATLAB for robot obstacle avoidance algorithm simulation study was completed at static obstacles geographic information for mobile robot obstacle avoidance simulation experiment validates the avoidance obstacle avoidance method has a good performance. Chaos Genetic Algorithm based obstacle avoidance method is applied to traveler No. Ⅱ wheeled robotic vehicle hardware systems . This paper developed a genetic algorithm based on chaotic autonomous robot obstacle avoidance systems that use Visual C 6.0 programming environment editor of the functional modules , autonomous obstacle avoidance system consists of four modules: serial communication module , ultrasonic ranging module , manual control module , autonomous obstacle avoidance module . Among them, in the autonomous obstacle avoidance module program in MATLAB using MATLAB Engine method completes and Visual C interface, docking , through the use of MATLAB Engine library function that will run in the MATLAB environment based on chaos genetic algorithm obstacle avoidance method is applied to autonomous robot obstacle avoidance system . End-use autonomous robot developed in this paper obstacle avoidance system completes traveler No. Ⅱ wheeled robot in the real geographical environment body automatically avoid open obstructions experiments to prove the proposed obstacle avoidance obstacle avoidance in real validity .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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