Path planning method based on neural network and genetic algorithm

被引：0
|
作者：
Chen, HH [1 ]
Du, X [1 ]
Gu, WK [1 ]
机构：
[1] Zhejiang Univ, Dept Informat Sci & Elect Engn, Hangzhou 310027, Zhejiang, Peoples R China
来源：
PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON INTELLIGENT MECHATRONICS AND AUTOMATION | 2004年
关键词：
neural network; genetic algorithm; dynamic obstacle avoidance; global path planning; fitness function;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a method of dynamic obstacle avoidance and path planning based on neural network and genetic algorithm is proposed. The neural network model of dynamic environmental information in the workspace for a robot is constructed. The relationship between dynamic obstacle avoidance and the output of the model is established based on this model and the two-dimensional coding for the via-points of path is converted to one-dimensional one. Then the fitness of the dynamic obstacle avoidance and that of the shortest distance are fused to a fitness function. The simulation results show that the proposed method is correct and effective.
引用
收藏
页码：667 / 671
页数：5
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