[1]秦世引,高书征.面向救援任务的地面移动机器人路径规划[J].智能系统学报,2009,4(05):414-420.[doi:10.3969/j.issn.1673-4785.2009.05.005]
 QIN Shi-yin,GAO Shu-zhen.Path planning for mobile rescue robots in disaster areas with complex environments[J].CAAI Transactions on Intelligent Systems,2009,4(05):414-420.[doi:10.3969/j.issn.1673-4785.2009.05.005]
点击复制

面向救援任务的地面移动机器人路径规划(/HTML)
分享到:

《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第4卷
期数:
2009年05期
页码:
414-420
栏目:
出版日期:
2009-10-25

文章信息/Info

Title:
Path planning for mobile rescue robots in disaster areas with complex environments
文章编号:
1673-4785(2009)05-0414-07
作者:
秦世引高书征
北京航空航天大学自动化科学与电气工程学院, 北京100191
Author(s):
QIN Shi-yin GAO Shu-zhen
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
关键词:
路径规划障碍物编码机器人救援遗传算法
Keywords:
path planning obstacles encoding robot rescue genetic algorithm
分类号:
TP242.6
DOI:
10.3969/j.issn.1673-4785.2009.05.005
文献标志码:
A
摘要:
由于救援机器人处于复杂环境中,面向紧急救援任务的实时性要求较高,因此,救援机器人的路径规划技术在整个救援过程中发挥着十分重要的作用.针对复杂环境条件,用多边形表示障碍物,设计了一种基于障碍物编码的遗传算法,进行路径规划.与以往的基于顶点编码的方法相比,该方法对障碍物复杂不规则的情况适应性更强,同时也缩减了解搜索空间,提高了算法的效率,增强了路径规划的实时性.通过异构多机器人联合救援模拟实验验证和分析,表明所提出的方法能够使机器人避让复杂环境中不同类型的障碍物,实现高效实时的路径规划,可操作性强,可以推广应用于实际救援系统中.
Abstract:
Rescue robots often work in complex environments and their effectiveness can determine whether victims will survive. This makes research on robot path planning of great significance. In this paper, obstacles in complex environments were modeled as polygons. Based on the encoded polygon, a new path planning algorithm was proposed using genetic algorithms. Compared with previous vertex-based encoding methods, the proposed encoding method can more easily adapt to the irregular shapes of obstacles. The solution space is thus considerably reduced, improving the efficiency and real-time performance of the path planning algorithm. Experimental results demonstrated that the algorithm can effectively guide a robot around obstacles in complex environments, producing acceptable paths for robots covering difficult terrain in rescues. The algorithm can be extended to practical rescue systems involving multiple robots.

参考文献/References:

[1]CASPER J L, MICIRE M, MURPHY R R. Issues in intelligent robots for search and rescue[C]//Proceedings of SPIE. Orlando, USA, 2000, 4024: 292-302.
[2]MATSUNO F, TADOKORO S. Rescue robots and systems in Japan[C]//Proc of IEEE Int Conf on Robotics and Biomimetics. Shenyang, China, 2004: 12-20.
[3]邬再新, 李艳宏, 刘   涛. 多移动机器人路径规划技术的研究现状与展望[J]. 机械, 2008(1):13-16.
WU Zaixin, LI Yanhong, LIU Tao. Research progress and future development on path planning for multi-robot[J]. Machinery, 2008(1): 13-16.
[4]QUINLAN S, KHATIB O. Elastic bands: connecting path planning and control[C]//IEEE International Conference on Robotics and Automation. Atlanta, USA, 1993, 2: 802-807.
[5]STENTZ A. Optimal and efficient path planning for partially-known environments[C]//Proceedings of the IEEE International Conference on Robotics and Automation. Los Alamitos, USA: IEEE Computer Society, 1994, 4: 3310-3317.
[6]黄彦文, 曹其新. RoboCup比赛环境下足球机器人路径规划研究[J]. 智能系统学报, 2007, 2(4): 52-57.
HUANG Yanwen, CAO Qixin. Path planning for robot soccer in the RoboCup environment[J]. CAAI Transactions on Intelligent Systems, 2007, 2(4): 52-57.
[7]WANG Y, SILLITOE I, MULVANEY D J. Mobile robot path planning in dynamic environments[C]// IEEE International Conference on Robotics and Automation. Roma, Italy, 2007: 71-76.
[8]蔡自兴, 彭志红. 一种新的路径编码机制在移动机器人路径规划中的应用[J]. 机器人, 2001(3): 230-233.
CAI Zixing, PENG Zhihong. The application of a novel path encoding mechanism in path planning for a mobile robot[J]. Robot, 2001(3): 230-233.
[9]戴   博, 肖晓明, 蔡自兴. 移动机器人路径规划技术的研究现状与展望[J]. 控制工程, 2005(3): 198-202.
DAI Bo, XIAO Xiaoming, CAI Zixing. Current status and future development of mobile robot path planning technology[J]. Control Engineering of China, 2005(3): 198-202.
[10]WISE K D, BOWYER A. A survey of global configuration-space mapping techniques for a single robot in a static environment[J]. The International Journal of Robotics Research, 2000, 19(8): 762-779.
[11]HU Y R, YANG S X, XU L Z, et al. A knowledge based genetic algorithm for path planning of a mobile robot environments[C]//IEEE International Conference Robotics and Automation. Shenyang, China, 2004: 767-772.
[12]王小平, 曹立明. 遗传算法——理论, 应用与软件实现[M]. 西安:西安交通大学出版社, 2002: 25-28.
[13]LI Q, ZHANG W, YIN Y, et al. An improved genetic algorithm of optimum path planning for mobile robots[C]//Proceedings of the Sixth International Conference on Intelligent Systems Design and Applications. Washington DC, USA: IEEE Computer Society, 2006: 637-642.
[14]MAHJOUBI H, BAHRAMI F, LUCAS C. Path planning in an environment with static and dynamic obstacles using genetic algorithm: a simplified search space approach[C]//IEEE Congress on Evolutionary Computation. Vancouver, Canada, 2006: 2483-2489.
[15]刘宏鼎, 秦世引. 双目轮式移动机器人的运动目标识别与跟踪[J]. 智能系统学报, 2007, 2(3): 19-24.
 LIU Hongding, QIN Shiyin. Recognition and tracking of moving targets for binocular wheel moving robotst[J]. CAAI Transactions on Intelligent Systems, 2007, 2(3):19-24.
[16]GONZALEZ R C, WOODS R E. Digital image processing[M]. 2nd ed. Upper Saddle River, USA: Prentice Hall, 2002: 420-500.
[17]方勇纯. 机器人视觉伺服研究综述[J]. 智能系统学报,2008,3(2):109-114.
FANG Yongchun. A survey of robot visual servoing[J]. CAAI Transactions on Intelligent Systems, 2008, 3(2): 109-114.

相似文献/References:

[1]黄彦文,曹其新.RoboCup比赛环境下足球机器人路径规划研究[J].智能系统学报,2007,2(04):52.
 HUANG Yan-wen,CAO Qin-xin.Path planning for robot soccer in the RoboCup environment[J].CAAI Transactions on Intelligent Systems,2007,2(05):52.
[2]曹卫华,吴净斌,吴 敏,等.无路标环境下遥操作机器人SLAM系统[J].智能系统学报,2010,5(03):240.
 CAO Wei-hua,WU Jing-bin,WU Min,et al.A system for telerobotics in environments without landmarks[J].CAAI Transactions on Intelligent Systems,2010,5(05):240.
[3]薛英花,田国会,吴 皓,等.智能空间中的服务机器人路径规划[J].智能系统学报,2010,5(03):260.
 XUE Ying-hua,TIAN Guo-hui,WU Hao,et al.Path planning for service robots in an intelligent space[J].CAAI Transactions on Intelligent Systems,2010,5(05):260.
[4]黄晓丹,王粉花,王志良.情感决策的智能家居虚拟人路径规划[J].智能系统学报,2010,5(04):292.
 HUANG Xiao-dan,WANG Fen-hua,WANG Zhi-liang.Using affective decisionmaking for the path planning of virtual humans in a smart home[J].CAAI Transactions on Intelligent Systems,2010,5(05):292.
[5]唐小勇,于 飞,潘洪悦.改进粒子群算法的潜器导航规划[J].智能系统学报,2010,5(05):443.[doi:10.3969/j.issn.1673-4785.2010.05.011]
 TANG Xiao-yong,YU Fei,PAN Hong-yue.Submersible path-planning based on an improved PSO[J].CAAI Transactions on Intelligent Systems,2010,5(05):443.[doi:10.3969/j.issn.1673-4785.2010.05.011]
[6]夏琳琳,张健沛,初妍.计算智能在移动机器人路径规划中的应用综述[J].智能系统学报,2011,6(02):160.
 XIA Linlin,ZHANG Jianpei,CHU Yan.An application survey on computational intelligence for path planning of mobile robots[J].CAAI Transactions on Intelligent Systems,2011,6(05):160.
[7]蒲兴成,张军,张毅.基于神经网络的改进行为协调控制及其在智能轮椅路径规划中的应用[J].智能系统学报,2011,6(05):456.
 PU Xingcheng,ZHANG Jun,ZHANG Yi.Modified behavior coordination for intelligent wheelchair path planning based on a neural network[J].CAAI Transactions on Intelligent Systems,2011,6(05):456.
[8]肖国宝,严宣辉.一种基于改进Theta *的机器人路径规划算法[J].智能系统学报,2013,8(01):58.[doi:10.3969/j.issn.1673-4785.201208032]
 XIAO Guobao,YAN Xuanhui.A path planning algorithm based on improved Theta * for mobile robot[J].CAAI Transactions on Intelligent Systems,2013,8(05):58.[doi:10.3969/j.issn.1673-4785.201208032]
[9]杨茂,田彦涛.复杂环境下多机器人觅食路径规划与控制[J].智能系统学报,2013,8(02):162.[doi:10.3969/j.issn.1673-4785.201208022]
 YANG Mao,TIAN Yantao.Foraging path planning and control for multi-robot in complex environment[J].CAAI Transactions on Intelligent Systems,2013,8(05):162.[doi:10.3969/j.issn.1673-4785.201208022]
[10]邹梅魁,于飞,吕重阳,等.采用量子粒子群算法的潜器路径规划[J].智能系统学报,2013,8(03):220.
 ZOU Meikui,YU Fei,LYU Chongyang,et al.Path planning for autonomous underwater vehicles by using QPSO[J].CAAI Transactions on Intelligent Systems,2013,8(05):220.

备注/Memo

备注/Memo:
作者简介:
秦世引,男,1955年生,教授,博士生导师,主要研究方向为复杂系统的智能控制、图像处理与模式识别等. 作为负责人主持完成(或在研) 国家攀登计划项目的子项目、国家“973” 项目的子课题、国家“863”项目、国家自然科学基金项目、国防科技预研基金项目、武器装备预研基金项目等18项. 1999年获全国优秀科技图书奖暨科技进步奖(科技著作) 一等奖, 1999年获国家第五届工程设计优秀软件金奖.发表学术论文130余篇,出版学术著作1部,研究生教材1部,译著2部.
 
高书征,男,1985年生,硕士研究生,主要研究方向为移动机器人路径规划与视觉导航控制.
更新日期/Last Update: 2009-12-29