| 改进遗传算法在移动机器人全局路径规划中的应用 |
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| 引用本文： | 蒋明,王妲,张华,解兴哲.改进遗传算法在移动机器人全局路径规划中的应用[J].计算机应用与软件,2011,28(8). |
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| 作者姓名： | 蒋明 王妲 张华 解兴哲 |
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| 作者单位： | 西南科技大学机器人技术及应用四川省重点实验室,四川,绵阳621010 |
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| 基金项目： | 科技部中小企业创新基金(09C26215105358) |
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| 摘 要： | 针对应用遗传算法进行移动机器人全局路径规划时遇到的早熟收敛和收敛速度慢等问题,提出一种基于定长二进制路径编码方式的改进遗传算法。研究此编码方式下的改进遗传操作,采用比例阈值自适应((N+K,N)+N)双种群进化策略,有效提高了算法收敛速度和全局寻优能力。仿真实验表明了该算法的有效性。
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| 关 键 词： | 移动机器人 路径规划 遗传算法 |
APPLYING IMPROVED GENETIC ALGORITHM TO GLOBAL PATH PLANNING FOR MOBILE ROBOT |
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| Jiang Ming,Wang Heng,Zhang Hua,Xie Xingzhe.APPLYING IMPROVED GENETIC ALGORITHM TO GLOBAL PATH PLANNING FOR MOBILE ROBOT[J].Computer Applications and Software,2011,28(8). |
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| Authors: | Jiang Ming Wang Heng Zhang Hua Xie Xingzhe |
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| Affiliation: | Jiang Ming Wang Heng Zhang Hua Xie Xingzhe(Sichuan Province Key Laboratory of Robot Technology & Application,Southwest University of Science and Technology,Mianyang 621010,Sichuan,China) |
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| Abstract: | Aiming at the problems of genetic algorithm application in global path planning for mobile robot including premature convergence and slow convergence,in this paper the authors propose an improved genetic algorithm based on the encoding means of fixed length binary path,and study the improved genetic operations in this path encoding.By using proportion threshold adaptive((N+K,N)+N) and dual-population evolution,the convergence speed and global optimization ability of the algorithm are effectively improved.Si... |
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| Keywords: | Mobile robot Path planning Genetic algorithm |
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