基于遗传算法导管架清洗机器人路径规划研究

海洋导管架错综复杂，人工控制清洗机器人在清洗过程中容易出现漏洗、重复清洗等现象，为使机器人能够高效、快速的清洗，基于遗传算法对其进行路径优化，利用清洗时间作为导管遍历代价，对导管架进行数字建模，以局部模型规划为例，验证算法的有效性，为空间桁架结构机器人路径规划提供一种思想。

Based on the Genetic Algorithm Jacket Cleaning Robot Path Planning Research

As ocean jacket structure is complex, the process of manual operation of the cleaning robot has problems such as high missing rate of washing and repeated washing. In order to acquiring a high efficiency and speed of washing, we sacrafice washing time for ergodic process of ocean jacket and get a digital model for it. Taking a local model as an example, we verify the effectiveness of the algorithm, thus providing a thought for Path Planning for space truss structure robot.