摘要
协调运动行为的合成是实现多机器人系统协调运动的关键，本文针对特定环境下的多机器人协调运动问题，基于调速避碰的思想，借助ＣＭＡＣ神经网络，来描述各机器人的运动行为与环境状态之间复杂的、非线性映射关系，利用理性遗传算法来合成与优化各机器人的运动行为，从而实现多机器人已知环境下，运动行为的相互协调与优化．文章讨论了规划算法的鲁棒性、完备性及时间复杂度．
The generation of cooperation behaviors is the key point of multi-robot motion cooperation. In this article a new algorithm is presented for multi-robot motion cooperation under known circumstance, in which CMAC neural networks are properly employed to proximate the complex function maps from motion behaviors to circumstance states, and a novel genetic algorithm innovated from conventional GA-rational genetic algorithm (RGA) is used for generation and optimization of motion behaviors purpose. In such a way the robustness and completeness of the algorithm are improved, and the time complexity lowered.
出处
《机器人》
EI
CSCD
北大核心
2002年第1期49-54,共6页
Robot
