多种群遗传算法在服务机器人仿真中的应用
摘要
服务机器人仿真主要研究基于真实场景中服务机器人在完成多个任务时的最优行动路径和行动序列规划。多种群遗传算法在标准遗传算法基础上将遗传算法拆分在多个子种群间并行进行,通过子种群之间的信息交换以增加种群中个体的多样性,从而避免传统遗传算法早熟收敛、局部搜索能力差等问题的发生。将多种群遗传算法与服务机器人仿真系统相结合研究家服务机器人的行动路径规划。
The simulation of service robots mainly studies the optimal path and sequence planning of service robots when they complete multiple tasks in real scenes.Multi-population genetic algorithm divides genetic algorithm into several sub-populations on the basis of standard genetic algorithm and carries out parallel operation.By exchanging information among sub-populations,it can increase the diversity of individuals in the population,thus avoiding premature convergence and poor local search ability of traditional genetic algorithm.This paper combines multi-population genetic algorithm with service robot simulation system to study the path planning of service robot.
The simulation of service robots mainly studies the optimal path and sequence planning of service robots when they complete multiple tasks in real scenes.Multi-population genetic algorithm divides genetic algorithm into several sub-populations on the basis of standard genetic algorithm and carries out parallel operation.By exchanging information among sub-populations,it can increase the diversity of individuals in the population,thus avoiding premature convergence and poor local search ability of traditional genetic algorithm.This paper combines multi-population genetic algorithm with service robot simulation system to study the path planning of service robot.
引文
[1]吕卉,周聪,邹娟,等.基于多种群进化的遗传算法[J].计算机工程与应用,2010,46(28):57-60
[2]Michael Decker, Martin Fischer, Ingrid Ott. Service Robotics and Human Labor:A first technology assessment of substitution and cooperation[J].Robotics and Autonomous System.2017(87):348-354
[3]熊光明,赵涛,龚建伟,等.服务机器人发展综述及若干问题探讨[J].机床与液压,2007,35(3):212-215
[4]陈涛.多功能家庭服务机器人的设计[D].成都:西华大学,2013
[5]王田苗,陶永,陈阳.服务机器人技术研究现状与发展趋势[J].中国科学:信息科学,2012,42:1049-1066
[6]A. van Wynsberghe. Service robots, care ethics, and design[J].Ethics Inf Technol,2016(18):311-321
[2]Michael Decker, Martin Fischer, Ingrid Ott. Service Robotics and Human Labor:A first technology assessment of substitution and cooperation[J].Robotics and Autonomous System.2017(87):348-354
[3]熊光明,赵涛,龚建伟,等.服务机器人发展综述及若干问题探讨[J].机床与液压,2007,35(3):212-215
[4]陈涛.多功能家庭服务机器人的设计[D].成都:西华大学,2013
[5]王田苗,陶永,陈阳.服务机器人技术研究现状与发展趋势[J].中国科学:信息科学,2012,42:1049-1066
[6]A. van Wynsberghe. Service robots, care ethics, and design[J].Ethics Inf Technol,2016(18):311-321