摘要
本文提出了一种基于免疫遗传算法的简单、有效的移动机器人实时动态避障路径规划方法。传统的遗传算法由于在进化过程中易出现早熟收敛、不能保证种群多样性的现象,基于以上的问题在标准遗传算法中引入免疫机制,改进了遗传算法的不足之处。仿真实验也证明了该算法是可行的。
In this paper, based on Immune Genetic Algorithm, we present a simple and valid method for real-time and dynamic obstacle avoidance of mobile robot for path planning. Prematurity and absence of the flock diversity is two problem in traditional genetic algorithm. To overcome those problems, we introduce Immune system into the standard genetic algorithm and improve the shortage of genetic algorithm. Emulational experiment shows that the algorithm is feasible.
出处
《微计算机信息》
北大核心
2008年第2期257-259,共3页
Control & Automation
基金
甘肃省自然科学基金资助项目(ZS031-A25-015-G)
