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本文提出了一种基于遗传算法的简单、有效的移动机器人实时动态避障路径规划方法.为利用遗传算法实时、稳定地进行动态路径规划,本文将复杂的二维路径编码问题简化为一维编码问题,并把路边约束、动态避障要求和最短路径要求融合成一个简单的适度函数.仿真实验表明,本文提出的动态路径规划方法可实时、稳定地产生移动机器人运动的最佳局部规划路径,且具有良好的动态避障性能.该方法也可用于智能车辆的自动导航.
In this paper, a simple and effective dynamic obstacle avoidance path planning method for mobile robots based on genetic algorithm is proposed.In order to make real-time and stable dynamic path planning by using genetic algorithm, this paper simplifies the complex two-dimensional path coding problem into one-dimensional coding Problem, and merges curb constraints, dynamic obstacle avoidance requirements and shortest path requirements into a simple moderate function.The simulation results show that the proposed dynamic path planning method can produce the best local planning path of mobile robot in real time and steadily , And has good dynamic obstacle avoidance performance.The method can also be used for automatic navigation of smart vehicles.