%0 Journal Article
%T Optimal Motion Planning Using Follow Boundary Repair and Evolutionary Search<br>采用跟踪边界修正和进化探索实现最佳的运动计划（英文）
%A YU Huiming
%A CHI ChiaJung
%A QIANG Bi
%A ZHOU Ganmin
%A <br>于慧明
%A 季加荣
%A 秦 斌
%A 周干民
%J 控制理论与应用
%D 2002
%I 
%X This paper presents an optimal motion planning system for mobile robots operating in unstructured environments. We have developed a new obstacle representation method named cross_line, a follow boundary repair approach, and a hybrid evolutionary motion planning algorithm. A group of experiments are conducted that indicate the effectiveness of follow boundary repair approach and cross_line representation. These results also demonstrate that optimal/near optimal paths can be generated through combining the follow boundary repair and evolutionary search.
%K motion planning
%K follow boundary repair
%K hybrid evolutionary<br>运动计划
%K 跟踪边界修正
%K 混合进化
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=DD8DFCD469071447&yid=C3ACC247184A22C1&vid=2A8D03AD8076A2E3&iid=38B194292C032A66&sid=8C27CCA578E52082&eid=869B6F3117981EC4&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=7