Tackling Dead End Scenarios by Improving Follow Gap Method with Genetic Programming

Tackling Dead End Scenarios by Improving Follow Gap Method with Genetic Programming
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通过遗传编程改进跟随间隙方法来解决死胡同

DOI：
10.23919/sice.2018.8492687
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发表时间：
2018
期刊：
2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)
影响因子：
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通讯作者：
A. M. F. Elbab
A. M. F. Elbab
中科院分区：
--
文献类型：
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作者：
M. Abdelwhab;A. Abouelsoud;A. M. F. Elbab

文献摘要

被引文献

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本文采用改进的跟随间隙法(FGM)结合遗传规划(GP)来解决避障中的局部极小值问题。提出了两级控制器并将其应用于配备九个红外传感器的Robotico移动机器人。第一阶段在前方障碍物之间有间隙时实施FGM，而第二阶段通过利用GP处理没有前方间隙的情况。仿真和实验工作证明了该方法的有效性。
In this paper the problem of local minimum in obstacle avoidance is solved using improved follow gap method (FGM) through combination with genetic programming (GP). Two stages of controller are proposed and applied on Robotino mobile robot equipped with nine infrared sensors. The first stage implements FGM when there is a gap between front obstacles whereas the second stage deals with the case of no front gap through the utilization of GP. Simulation and experimental work prove the effectiveness of the proposed method.