动态障碍物环境下移动机器人的全局路径规划研究

摘要

针对环境中存在动态障碍物时,如何运用全局路径规划算法求解移动机器人的最佳路径,设定动态障碍物的运动范围是已知的,则危险程度是一个区间数.定义一种Pareto概率支配公式,求出不同区间数之间的占优概率,由此得出哪条路径的安全程度更高.对传统NSGA-Ⅱ算法进行改进,根据约束函数把所有的解区分为可行解与非可行解,引入非可行解储备集储存好的非可行解,引导可行解进化出更好的解.建立环境模型,用Matlab软件进行仿真,仿真结果表明对不同的障碍物环境,该方法均能规划出安全无碰的路径,与传统算法进行对比,改进后算法在求解动态障碍物环境下的机器人路径规划问题更加可行有效.%For the dynamic obstacles in the environment,how to use the global path planning algorithm to solve the optimal path of mobile robot,assuming that the motion range of the dynamic obstacle is known,so the hazard level is an interval number. Define a Pareto probability dominance formula,find out the dominant probability between different interval numbers,which can be used to determine which path is more secure. The traditional NSGA-Ⅱalgorithm is improved,and all solutions are classified into feasible and infeasible solutions according to the constraint function,the non feasible solution set is introduced to store the non feasible solution,guide feasible solutions to evolve better solutions. The environment model is established and simulated with MATLAB software. The simulation results show that for different obstacle environ-ment,this method can be used to plan a safe path,compared with the traditional algorithm,the improved algorithm in solving the dynamic obstacle environment for robot path planning problem is more feasible and effective.