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基于渐进式变结构遗传算法的肢体机器人运动规划

DOI: doi:10.3969/j.issn.1006-7043.2010.12.017

Keywords: 肢体机器人, 人机接口, 遗传算法, 运动规划

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Abstract:

为使机器人的末端同时具备行走和操作能力,提出一种新颖的三肢体冗余度机器人,并介绍了该机器人的机构以及人机接口的设计.针对该机器人的运动规划提出渐进式遗传规划策略,该策略能够将笛卡尔空间坐标位姿自动、有效地映射到关节空间.在渐进式遗传规划方法的基础上提出一种变结构遗传算法,该算法可用以解决动态环境下渐进式遗传运动规划易陷入局部极小点的问题.实验结果表明渐进式遗传规划方法在静态环境中的有效性,同时也证实了变结构遗传算法对动态环境下进行运动规划的有效性.

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