第3期 李擎等:自适应遗传算法在移动机器人路径规划中的应用 .323. 路径规划问题提供了一种新思路、新方法 [7]Hu Y,Yang S.A knowledge based genetic algorithm for path planning of a mobile robot//Proceedings of the 2004 IEEE Inter- 参考文献 national Conference on Robotics and Automation.New Orleans: [1]LozanoPerez T.Spatial planning:A configuration approach IEEE,2004:4350 IEEE Trans Comput,1983.C32(2):108 [8]Li Q.Zhang W,Yin Y X,et al.An improved genetic algorithm [2]Rimon E.Doditschek D E.Exact robot navigation using artificial for optimal path planning.Inf Control.2006.35(4):444 potential fields.IEEE Trans Rob Autom.1992.8(5):501 (李繁,张伟,尹怡欣,等。一种用于最优路径规划的改进遗 [3]Yang S X.Meng M.An efficient neural network approach to dy- 传算法.信息与控制,2006,35(4):444) namic robot motion planning-Neural Networks.2000.13(2): [9]Wu W.Ruan Q.A gene-constrained genetic algorithm for solving 143 shortest path problem/Proceedings of the 7th International [4]Sugihara K.Smith J.Genetic algorithms for adaptive motion Conference on Signal Processing Beijing,2004:2510 planning of an autonomous mobile robot /Proceeding of IEEE [10]Li Q.Zheng D L.Tang Y,et al.A new kind of fuzy genetic International Symposium on Computational Intelligence in algorithm.JUniv Sei Technol Beijing.2001.23(1):85 Robotics and Automation.Monterey:IEEE,1997:138 (李擎,郑德玲,唐勇,等。一种新的模糊遗传算法·北京科技 [5]Xiao J.Michalewicz Z.Zhang L.et al.Adaptive evolutionary 大学学报,2001,23(1):85) planner/navigator for mobile robots.IEEE Trans Evol Comput, [11]Li Q.Zhang W.Yin Y X.et al.A new adaptive algorithm for 1997,1(1):18 regulating the probabilities of crossover and mutation.Control Decis,2008,23(1):79 [6]Tu J.Yang S.Genetic algorithm based path planning for a mobile robot//Proceedings of the 2003 IEEE International Conference (李擎,张伟,尹怡欣,等。一种新的调节交叉和变异概率的自 on Robotics and Automation-Taipei:IEEE.2003:1221 适应算法.控制与决策,2008,23(1):79 (下期预告) 工艺参数对楔横轧二次楔轧制超大断面收缩率的影响 娄依志张康生杨翠萍胡正寰 为考察楔横轧二次楔轧制在超大断面收缩率情况下的成形规律,在H630轧机上进行了不同工艺条件 下的超大断面收缩率轧制实验,得到各工艺参数对轧制质量的影响规律,发现在超大断面收缩率情况下二次 楔的工艺参数对内部缺陷和拉断加工界限有决定性影响,结果表明,只要参数得当,二次楔轧制可以获得合 格的大断面收缩率轴类件,路径规划问题提供了一种新思路、新方法. 参 考 文 献 [1] Lozano-Perez T.Spatial planning:A configuration approach. IEEE T rans Comput1983C32(2):108 [2] Rimon EDoditschek D E.Exact robot navigation using artificial potential fields.IEEE T rans Rob A utom19928(5):501 [3] Yang S XMeng M.An efficient neural network approach to dynamic robot motion planning.Neural Networks200013(2): 143 [4] Sugihara KSmith J.Genetic algorithms for adaptive motion planning of an autonomous mobile robot ∥ Proceeding of IEEE International Symposium on Computational Intelligence in Robotics and A utomation.Monterey:IEEE1997:138 [5] Xiao JMichalewicz ZZhang Let al.Adaptive evolutionary planner/navigator for mobile robots.IEEE T rans Evol Comput 19971(1):18 [6] Tu JYang S.Genetic algorithm based path planning for a mobile robot∥ Proceedings of the 2003 IEEE International Conference on Robotics and A utomation.Taipei:IEEE2003:1221 [7] Hu YYang S.A knowledge based genetic algorithm for path planning of a mobile robot∥ Proceedings of the2004 IEEE International Conference on Robotics and A utomation.New Orleans: IEEE2004:4350 [8] Li QZhang WYin Y Xet al.An improved genetic algorithm for optimal path planning.Inf Control200635(4):444 (李擎张伟尹怡欣等.一种用于最优路径规划的改进遗 传算法.信息与控制200635(4):444) [9] Wu WRuan Q.A gene-constrained genetic algorithm for solving shortest path problem ∥ Proceedings of the 7th International Conference on Signal Processing.Beijing2004:2510 [10] Li QZheng D LTang Yet al.A new kind of fuzzy genetic algorithm.J Univ Sci Technol Beijing200123(1):85 (李擎郑德玲唐勇等.一种新的模糊遗传算法.北京科技 大学学报200123(1):85) [11] Li QZhang WYin Y Xet al.A new adaptive algorithm for regulating the probabilities of crossover and mutation.Control Decis200823(1):79 (李擎张伟尹怡欣等.一种新的调节交叉和变异概率的自 适应算法.控制与决策200823(1):79 (下期预告) 工艺参数对楔横轧二次楔轧制超大断面收缩率的影响 娄依志 张康生 杨翠萍 胡正寰 为考察楔横轧二次楔轧制在超大断面收缩率情况下的成形规律在 H630轧机上进行了不同工艺条件 下的超大断面收缩率轧制实验得到各工艺参数对轧制质量的影响规律发现在超大断面收缩率情况下二次 楔的工艺参数对内部缺陷和拉断加工界限有决定性影响.结果表明只要参数得当二次楔轧制可以获得合 格的大断面收缩率轴类件. 第3期 李 擎等: 自适应遗传算法在移动机器人路径规划中的应用 ·323·