| 全局路径规划中基于改进可视图法的环境建模 |
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| 引用本文： | 李善寿,方潜生,肖本贤,齐东流.全局路径规划中基于改进可视图法的环境建模[J].华东交通大学学报,2008,25(6):73-77. |
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| 作者姓名： | 李善寿 方潜生 肖本贤 齐东流 |
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| 作者单位： | 1. 安徽建筑工业学院,电子与信息工程学院,安徽,合肥,230022;安徽省智能建筑重点实验室,安徽,合肥,230022
2. 合肥工业大学,电气与自动化工程学院,安徽,合肥,230009 |
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| 基金项目： | 安徽省自然科学基金资助项目
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| 摘 要： | 主要针对静态已知环境下的全局路径规划作了研究，在切线图和Voronoi图的基础上，考虑安全性与路径最优化，论文采用一种改进的可视图法建立环境模型和确定AGV向目标点运动的有效路径．与传统的可视图法把障碍物的顶点作为图的节点、把障碍物的边作为弧相比，这种改进的方法把障碍物顶点连线的中点作为节点，把这些节点间的某些边线作为弧．最后使用遗传算法进行全局路径规划，并对规划出的各节点采用十进制任意编号，把路径编码成定长的十进制染色体串，通过MATLAB仿真，结果证明了该方法的可行性．
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| 关 键 词： | 全局路径规划 改进可视图法 遗传算法 定长十进制编码 仿真 |
Environment Modeling in Global Path Planning Based on Modified Visibility Graph |
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| LI Shan-shou,FANG Qian-sheng,XIAO Ben-xian,QI Dong-liu.Environment Modeling in Global Path Planning Based on Modified Visibility Graph[J].Journal of East China Jiaotong University,2008,25(6):73-77. |
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| Authors: | LI Shan-shou FANG Qian-sheng XIAO Ben-xian QI Dong-liu |
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| Institution: | LI Shan-shou1,3,FANG Qian-sheng1,XIAO Ben-xian2,QI Dong-liu2(1.School of Electronics , Information Engineering,Anhui University of Architecture,Hefei 230022,China,2.School of Electrical , Automation Engineering,Hefei University of Technology,Hefei 230009,3.Key Laboratory of Intelligent Building of Anhui Province,China) |
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| Abstract: | Basedon tangential graph and Voronoi graph,a method for global path planning is analyzed for static and known environment.Considering security and path optimization,a modified visibility graph method is used to establish environment model and determine valid path to destination for AGV(Automated Guided Vehicles).By contrast with traditional visibility graph in which obstacle peak is regarded as graph node and obstacle border serves as arc,this modified method regards the connection midpoint between obstacle... |
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| Keywords: | global path planning modified visibility graph genetic algorithm fixed length decimal coding simulation |
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