R31 DS MNTT Kk & & RF R Vol31 Nos ET BRRAMUSAAPRREMAL ARE shatit CO LAPS aCe Le OAR, LH 200072; 2ERAZATSBTLRER, MA 264025) OB ARMS AAT REL, AAT IER (ES, SERA RMI CST), HE SAE RISA. IBS FA BA AB ATLA Pai PH I A ENT. ETAT T Oe. SPAT ANNE NE. LIRA, ACLS GA BEG. SDA SLIEATEL, HERE. RRR, ZECRESE eee FA SRE A SORA: AURA, AARC: MEN, CNN, RRM Fast target localization method based on genetic algorithm for robots Zhou Wenju'? Fei Minrui' (1 Shanghai Key Laboratory of Power Station Automation Technology, School of Mechatronics Engineeringé Automation, Shanghai University Shanghai 200072; 2 Schoo! of Electronic and Electrical Engineering LuDong University, Yantai 264025) Abstract: In order to locate fast the targets which are snatched by robots, Edge-Strips Model (ESM) has been proposed and Grey System Theory (GST) has been introduced in this paper. Both the edge-strips gray difference scale and Deng relevance scale between the model and the target have been served as the fitness of GA. In addition, crossover operator and mutation operator have been developed and optimized. The scale operator and rotation operator have also been added. In our experiment, by comparing this algorithm with the traditional GA and SSDA, it is showed to have a small computation, less iterations and a higher localization success rate in real-time condition. Key word: robot; target location; GA; Edge-Strips Model; Grey System Theory 1 41 lt Sat. WHER RAE A DART Ea RHE, TIA. (BUM UELI. SUBAREA ATES ESRGAEARESERMR TRAE AAR, ERS. —AONET ROAR. py eee, eREIOR AAI, ERI RENTHX’, BERR T ROXIO 5 Gy wineemeRe RIL ICURE. MET RMS, Ss, APRIL. ASE eae, ara LANNE. ACH RISE AARC ELLER BIE ase MEME RRA, SAT SEOIDRL, ABRIL STOR, OH scan oh ESO RTURRINDARILN (ESM, Flat FESURDIEERISDE(SSDA). GOVRIERARIEE, 3) seca gees (RST), JEEP RRBERE AR SPER, EU SAEX, ROASTER srs MIRA AMEN, ODT ERO LAT BRA jeans. 09 FLT RRR | SORPUBILR, RT RR. 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