A genetic_FPGA algorithm path planning of an autonomous mobile robot
A genetic_FPGA algorithm path planning of an autonomous mobile robot
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自主移动机器人的Genetic_FPGA算法路径规划
DOI：
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发表时间：
2008
期刊：
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通讯作者：
O. Hachour
中科院分区：
文献类型：
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作者：
O. Hachour
提出了路径自主移动机器人(AMR)的遗传算法。这种方法具有自适应性的优势，即使在环境未知的情况下，GA也能完美地工作。首先，提出了一种基于遗传算法的地形路径规划的软件实现方法。遗传算法在随机生成的地形上取得了令人满意的结果。其次，利用现场可编程门阵列(FPGA)的单个静态随机存储器(SRAM)，讨论了遗传算法在路径规划和轨迹规划方面的扩展。这种基于VHDL语言描述路径规划的新设计方法具有两个优点：为移动机器人呈现一个真实的自主任务，并且具有通用性和灵活性，可以根据用户需求进行更改。得到的结果是令人振奋的。
This paper proposes Genetic Algorithms (GAs) for path Autonomous Mobile Robot (AMR). This approach has an advantage of adaptivity such that the GA works perfectly even if an environment is unknown. First, we present a software implementation GA path planning in a terrain. The results gotten of the GA on randomly generated terrains are very satisfactory and promising. Second, we discuss extensions of the GA for solving both paths planning and trajectory planning using a Single Static Random Access Memory (SRAM) for Field Programmable Gate Array (FPGA). This new design methodology based upon a VHDL description of the path planning has the two (02) advantages : to present a real autonomous task for mobile robots, and being generic and flexible and can be changed at the user demand. The results gotten are promising.