基于遗传算法移动机器人的路径规划研究

路径规划是移动机器人研究中的一个重要内容,它在移动机器人导航中起着不可缺少而又重要的作用。提出一种采用遗传算法对移动机器人进行路径规划的方法,使用栅格法建立移动机器人的工作环境模型,采用路径中的序号进行编码,通过选择适当的遗传算子,最后得到移动机器人工作环境的最优或次最优无碰路径。

Research of Mobile Robot Path Planning Based Genetic Algorithm

The path planning is an important subject in mobile robot research,and it plays an important and indispensable part in mobile robot navigation. It presents a method of path planning for mobile robot using genetic algorithm. Grid method is used to establish robot mobile work environment model,the serial number is encoded in the path,and the appropriate genetic operators are selected. At last,the optimal or sub-optimal collision-free path can be found in mobile robot working environment.