MATEC Web Conf.
Volume 139, 20172017 3rd International Conference on Mechanical, Electronic and Information Technology Engineering (ICMITE 2017)
|Number of page(s)||5|
|Published online||05 December 2017|
A Multi-objective Optimization Behavior Fusion Avoidance Method for Snake-like Rescue Robot
Xi’an University of Science and Technology, College of Electrical and Control Engineering, 710054 Shaanxi Xi’an, China
* Corresponding author: firstname.lastname@example.org
The obstacle avoidance path planning of rescue robot has been the key problem of autonomous navigation for rescue robot. Most of the existing path planning algorithms is aimed at the optimization of a particular target, often resulting in deadlock or oscillation in order to obtain the optimal solution or the optimal path. Therefore, using the multi-objective optimization theory, this paper presents a multi-objective optimization dynamic obstacle avoidance algorithm based on interval weights, the fusion process of obstacle avoidance process is divided into three seed action, by giving the behavior function of different weights, the output rate of real-time dynamic change of different action. This is not to obtain the optimal solution or the optimal path at the current moment, but to obtain only the most efficient solution or the most satisfactory path at the current moment. Experiments show that the algorithm can effectively improve the flexibility and security of the obstacle avoidance process under the premise of ensuring the real-time and robustness of the search and rescue robot obstacle avoidance process.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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