Artificial Potential Field with Q-GA Based Route Plan of Mobile Robot
Shirong Liu · Control Engineering of China · 2008
To the problems of composition of forces amounting to zero and goal unreachable in path planning with artificial potential field,a method based on artificial potential field with quantum genetic algorithm(Q-GA) is presented.The route safety and swerve frequency are introduced to evaluation index,and the parameters of potential field model are optimized by Q-GA.So the objection of artificial potential field model is solved,and optimization of the route length and safety are realized.Simulation rusult shows that the proposed method can effectively improve the performance of route plan.