A Robot Obstacle Avoidance Method Based on Improved Genetic Algorithm

摘要

In order to improve the space obstacle avoidance ability of the robot and realize the optimal kinematics planning and design of the robot, a robot obstacle avoidance method is proposed based on improved genetic algorithm (GA), a robot space obstacle avoidance model based on genetic evolutionary adaptive guidance control is constructed. The constraint parameter model of obstacle avoidance control of robot is constructed, and the trajectory of space obstacle avoidance is described as the global optimization problem of genetic evolution. The pheromone released in genetic evolution is used as the guiding rule of space obstacle avoidance control of robot. The mechanical parameters of obstacle avoidance motion and trajectory tracking control parameters are obtained, and the control equations and dynamics equations of robot obstacle avoidance are constructed. The pheromones are broadcast according to the global optimization control rules of genetic evolution. The robot is driven to realize the space path optimization planning and to improve the obstacle avoidance algorithm. The simulation results show that the proposed algorithm is effective in avoiding obstacles, it can effectively avoid obstacles and improve the control performance of the robot.