摘要： 研究了一种全新的基于遗传算法的机器人路径滚动规划方法。该方法将目标点映射在机器人视野域内侧边界附近，规划出机器人局部最优路径，机器人根据此局部路径前进一步。机器人每前进一步就重复该过程，沿一条全局优化的路径安全地到达终点。仿真实验表明，即使在复杂的未知静态环境下，利用该算法也可以规划出一条全局优化路径，且能安全避碰。

关键词: 未知静态环境, 路径规划, 移动机器人, 遗传算法, 滚动规划

Abstract: This paper proposes a new rolling algorithm for path plan of mobile robot based on genetic algorithm. The goal node is mapped to the node nearby the boundary in the eyeshot of the robot, and the best local path is planned, which the robot goes ahead for a step. The algorithm iterates until the robot arrives at the goal node. The path gained is safe and optimal. Simulation results illustrate that the algorithm can be used to plan the optimized path for mobile robot even in the complex and unknown static environment, and the robot can avoid the obstacles safely by the path with the new algorithm.

Key words: unknown static environment, path plan, mobile robot, genetic algorithm, rolling plan

中图分类号: 

• TP301.6