Research on Path Planning Algorithm based on Security Patrol Robot

摘要

This study designed a path planning method based on fuzzy algorithm and genetic fuzzy algorithm for the security patrol robot. Firstly, the fuzzy algorithm design of path planning was introduced, it included making the obstacle avoidance control strategy, establishing fuzzy language and its membership function of input and output, establishing fuzzy control rules for path planning, and carrying on fuzzy reasoning and defuzzification for path planning. Although the fuzzy logic algorithm can avoid obstacle well for path planning, it need the membership function and control rules accurately, and affecting the application of fuzzy reasoning. Therefore, genetic algorithm was used to optimize the fuzzy algorithm, it included description of model, determining the range of variation of each parameter, encoding scheme, algorithm flow, and designing of fuzzy logic controller based on genetic algorithm optimization. Finally, in order to verify the effectiveness of the designed genetic fuzzy algorithm, the simulation was carried out.