基于方位编码的遗传算法在路径规划中的应用

路径规划是移动机器人关键技术,针对移动机器人在已知环境下避障和搜索最优路径问题,提出了一种运用栅格法辅以遗传算法进行搜索的方案。其中栅格法用来划分地图,而后为机器人自身周围八个方位进行二进制编码,这些方位编码按顺序排列,组成一串定长染色体,包含机器人移动的路径信息。运用自适应遗传算法得出最优路径的方位编码组合,最后对其解码求出最优路径。

Direction Coding for Genetic Algorithm in Application of Path Planning

Path planning is the core technology of the mobile robot.To solve the problem of searching the shortest route in static environment,proposed to use grid method with the help of genetic algorithm.In this project,grid method was used to measure the map.Then coding the eight directions in binary around the robot to compose the fixed length chromosome which was arranged in order,and use adaptive genetic algorithm to achieve the best path.