景兴建, 王越超. 一种基于理性遗传算法(RGA)的协调运动行为合成算法[J]. 机器人, 2002, 24(1): 49-54.
引用本文: 景兴建, 王越超. 一种基于理性遗传算法(RGA)的协调运动行为合成算法[J]. 机器人, 2002, 24(1): 49-54.
JING Xing-jian, WANG Yue-chao. MULTI-ROBOT MOTION COOPERATION ALGORITHM BASED ON RGA[J]. ROBOT, 2002, 24(1): 49-54.
Citation: JING Xing-jian, WANG Yue-chao. MULTI-ROBOT MOTION COOPERATION ALGORITHM BASED ON RGA[J]. ROBOT, 2002, 24(1): 49-54.

一种基于理性遗传算法(RGA)的协调运动行为合成算法

MULTI-ROBOT MOTION COOPERATION ALGORITHM BASED ON RGA

  • 摘要: 协调运动行为的合成是实现多机器人系统协调运动的关键,本文针对特定环境下的多机器人协调运动问题,基于调速避碰的思想,借助CMAC神经网络,来描述各机器人的运动行为与环境状态之间复杂的、非线性映射关系,利用理性遗传算法来合成与优化各机器人的运动行为,从而实现多机器人已知环境下,运动行为的相互协调与优化.文章讨论了规划算法的鲁棒性、完备性及时间复杂度.

     

    Abstract: The generation of cooperation behaviors is the key point of multi-robot motion cooperation. In this article a new algorithm is presented for multi-robot motion cooperation under known circumstance, in which CMAC neural networks are properly employed to proximate the complex function maps from motion behaviors to circumstance states, and a novel genetic algorithm innovated from conventional GA-rational genetic algorithm (RGA) is used for generation and optimization of motion behaviors purpose. In such a way the robustness and completeness of the algorithm are improved, and the time complexity lowered.

     

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