PATH PLANNING IN DISTRIBUTED INTELLIGENT ENVIRONMENT

摘要：

To solve the path planning task in distributed intelligent environment, a new algorithm is proposed which combining multi-objective optimization algorithm and snake algorithm to generate an optimal control trajectory which applies to the robot motion control. Firstly, according to multi-objective optimization algorithm, for mobile robots with nonholonomic constraints, we can acquire Pareto Optimality after considering constraints of snake model separately. Then, a new strategy is applied to get a final optimal path from these feasible results. Finally, the efficiency and accuracy are shown by a simulation.

关键词： distributed intelligent environment path planning multi-objective optimization improved snake model

作者: F.X.Chen X.N.Wang J.Zhu P.Jiang

作者单位: Department of Control Theory and Control Engineering, TJU, Shanghai, China

会议类型: 国际会议

会议名称: 2012 International Conference on System Simulation(2012年国际系统仿真学术会议)

会议地点: 上海

会议语种:英文

页码: 180-184

在线出版日期: 2012-04-06（万方平台首次上网日期，不代表论文的发表时间）