一种移动机器人的禁忌有哪些信誉好的足球投注网站自主导航算法-控制与决策.PDF

绗?6 鍗 绗? 鏈 鎺 鍒 涓 鍐 绛 2011 骞 9 鏈 Vol. 26 No. 9 Control and Decision Sep. 2011 鏂囩珷缂栧彿: 1001-0920 (2011) 09-1310-05 涓€绉嶇Щ鍔ㄦ満鍣ㄤ汉鐨勭蹇屾悳绱㈣嚜涓诲鑸畻娉 1 1 2 1 闆峰皬搴 , 鍒樻槑闆 , 闂寕寰? 鏉庨椈鐧 (1. 瑗垮寳宸ヤ笟澶у鑸捣瀛﹂櫌锛岃タ瀹?10072 锛?. 闀垮畨澶у鐢靛瓙涓庢帶鍒跺伐绋嬪闄紝瑗垮畨710064) 鎽 瑕? 绾补鐨勫弽搴斿紡瀵艰埅绠楁硶鍦ㄥ鏉傛湭鐭ョ幆澧冧笅鏄撻櫡鍏ュ眬閮ㄦ瀬灏? 涓烘鎻愬嚭涓€绉嶅熀浜庡眬閮ㄥ瓙鐩爣鍜岀蹇屾悳绱㈢殑鑷 涓诲鑸畻娉? 浠ュ綋鍓嶅彲瑙嗗尯鍩熷唴闅滅鐗╃殑鍏抽敭瑙掔偣涓烘悳绱㈤偦鍩? 鍒╃敤绂佸繉鎼滅储绠楁硶鎵ц浼樺寲鎿嶄綔鐢熸垚褰撳墠瀛愮洰鏍? 杩 鑰岄噰鐢ㄥ弽搴斿紡瀵艰埅绠楁硶瀵瑰叾杩涜璺熻釜, 鏈€缁堥€氳繃瀛愮洰鏍囩殑鍔ㄦ€佸垏鎹㈠紩瀵兼満鍣ㄤ汉椹惰揪鐩爣浣嶇疆. 绠楁硶鍙湁鏁堝厠鏈嶅眬閮 鏋佸皬, 鏄捐憲鎻愰珮鏈哄櫒浜哄湪澶嶆潅鐜涓嬬殑鑷富鎬? 鐞嗚鍒嗘瀽鍜屼豢鐪熷疄楠岄獙璇佷簡绠楁硶鐨勫彲琛屾€у拰鏈夋晥鎬? 鍏抽敭璇岤 绉诲姩鏈哄櫒浜猴紱绂佸繉鎼滅储锛涜嚜涓诲鑸紱瀛愮洰鏍 涓浘鍒嗙被鍙耳 TP24 鏂囩尞鏍囪瘑鐮? A Tabu search based autonomous navigation algorithm for mobile robot 1 1 2 1 LEI Xiao-kang , LIU Ming-yong , YAN Mao-de , LI Wen-bai (1. College of Marine锛孨orthwestern Polytechnical University 锛孹i鈥檃n 710072 锛孋hina 锛?. School of Electronic and Control Engineering锛孋hang鈥檃n University锛孹i鈥檃n 710064 锛孋hina 锛嶤orrespondent 锛歀EI Xiao-kang 锛孍-mail: ray com@163.com) Abstract: In complex environments, the sole reactive navigation algorithm is easily to be trapped in a loop, which is called the local minima problem. Therefore, an autonomous navigation algorithm based on sub-goal and tabu search algorithm is presented. Aiming at the critical vertex in the visible area as searching neighborhood, the optimization sub-goal is obtained by using the tabu search algorithm. Then the mobile robot tracks the sub-goal by means of reactive navigation and 铿乶ally reaches the goal by updating the sub-goal positions gradually. The algorithm can overcome the local minima o