基于免疫遗传的机器人路径规划【毕业论文】.doc

- PAGE I - 本科毕业设计 （20 届） 基于免疫遗传的机器人路径规划 所在学院 专业班级 电气工程及其自动化 学生姓名 学号 指导教师 职称 完成日期 年 月 PAGE I 摘　要 【摘要】路径规划问题是移动机器人系统需要处理的问题之一，对于路径规划，我们需要做的就是在环境信息空间中，按照一定的规则找出从起始点到终点的最短的或者最优的没有任何碰撞的路径。根据环境信息可知，我们可以分为：环境可知的和环境未知，在这当中，我们也要分为环境是静态的或者动态的两种，而本文需要做的就是在已经环境下的静态障碍物的路径规划问题。 本文的路径规划问题是采用了遗传免疫算法来进行路径规划的，在静态已知的环境中，我们需要做的就是将起点到终点的最优的路径找出来，遗传算法包括自然选择和进化的思想，免疫算法是生物免疫学的思想，两者合一有很强鲁棒性，同时避免了遗传算法所引起的局部收敛。 本文最后设计并实现了一个机器人路径规划，首先通过采用免疫遗传算法给机器人规划了一条路径使其绕过障碍物，使机器人达到规定的目标点，并且得到了最佳路径。 【关键词】移动机器人；路径规划；免疫遗传。 Abstract 【ABSTRACT】Mobile robot path planning problem is one of the system need to be addressed, for the path planning, we need to do is in the environmental information space, in accordance with certain rules to the end from the starting point to find the shortest or the best there is no collision path. According to the environmental information we know that we can know that for environmental information, we can be divided into: environmental knowable and the environment is unknown, In this, we have divided into the environment is static or dynamic of the two, and this needs to be done is static obstacles has been the path of environmental planning.  Path planning of this article is the use of a genetic immune algorithm for path planning in a static known environment, we need to do is to point to the end to find out the optimal path, genetic algorithms, including natural selection and evolution thinking of biological immune algorithm immunological thought, a strong unity between the robustness of genetic algorithm and avoid local convergence caused.  Finally, the design and implementation of a robot path planning, the first through the use of genetic algorithm to the robot planned a path to bypass the obstacles, and through the C platform, the robot up to the required target point, and get the best path. 【KEYWORDS】mobile robot；path planning；immunity-genetic algorithm.