改进遗传算法用于移动机器人路径规划

对三维机器人路径空间进行分解,采用栅格法建立路径空间模型,根据栅格序号编码的特点以及栅格序号在路径空间中的分布规律,设计一种随机快速搜索算法产生遗传算法的初始种群.对遗传算子进行适当的改进,以避免种群退化现象的出现,使算法能够快速收敛.把路径最短和能量消耗最少同时作为优化目标,对改进的遗传算法进行了仿真测试,测试结果表明,该算法简单而有效,并且对机器人路径空间的变化具有一定的适应能力.

Robot path planning using improved genetic algorithms

The decomposed robot's three-Dimensional workspace is discreted and modeled by grids.A kind of random fast searching method,based on the rule of the grids' array number,is designed to create the initial population.The genetic algorithms operators is improved properly to avoid degeneration,which will make the algorithm converge faster.Results of the simulation which uses path length and energy costs as the criterion show that the improved algorithm is simple but effective,and also has a strong ability to ada...