Path Planning Algorithm for Mobile Robot Obstacle Avoidance Adopting Bezier Curve Based on Genetic Algorithm

被引：15

作者：

Yang Linquan ^{[1
]}

Luo Zhongwen ^{[1
]}

Tang Zhonghua ^{[2
]}

Lv Weixian ^{[1
]}

机构：

[1] China Univ Geosci, Fac Informat Engn, Wuhan 430074, Peoples R China

[2] China Univ Geosci, Sch Environm Studies, Wuhan 430074, Peoples R China

来源：

2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11 | 2008年

关键词：

Path Planning; Bezier Curve; Genetic Algorithm; Robot Soccer;

D O I：

10.1109/CCDC.2008.4597937

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Combining the Genetic Algorithm and Bezier curve, a new path planning for mobile robot is presented. This path replaces the traditional broken lines with smooth Bezier curve. Therefore it can satisfy the non-holonomic constraints of two-wheel-robot model and serves also the mobile robot rather ideal acceleration. Then it searches the optimal time-cost for control points of Bezier that stands for the path with Genetic Algorithm. The fitness function of Genetic Algorithm takes 3 factors that influence the moving time of robot seriously: security, length and smoothness of the path. The results of simulation and real competitions showed its good effectiveness.

引用

页码：3286 / +

页数：2

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