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基于遗传算法的欠驱动机器人避障规划与轨迹跟踪

Keywords: 非完整,运动规划,避障,轨迹跟踪,遗传算法

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Abstract:

对平面欠驱动机器人的避障运动规划与轨迹跟踪问题进行了研究,提出部分稳定规划器切换的新方法,通过部分规划器的切换实现欠驱动机器人系统的运动规划任务.在制定切换规则方面利用遗传算法进行自寻优,得到最优切换规则,对含有约束的非线性规划问题,采用罚函数法在适应度函数中添加惩罚项,转化为无约束优化问题.以平面3R欠驱动机器人为例进行了数值仿真,验证了方法的有效性.

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