基于改进遗传算法的机器人路径规划

Robot Path Planning Based on Improved Genetic Algorithm

本文在应用遗传算法进行机器人路径规划时,针对遗传算法的“早熟收敛”和“收敛速度慢”两大难题,结合具体的应用背景,在各种改进遗传操作的基础上,把遗传算法和简单图搜索方法相结合,减少了搜索的盲目性,使得优秀个体能较快地产生,算法在很少的进化代数中就可以求出问题最优解。算法的分析和测试表明,本文算法的改进是有效的。

Prematurely and lower convergent speed is the two puzzling problem in applying genetic algorithm. Based on the given background of robot path planning, we integrate map searching technique into genetic algorithm as well as several improved genetic operators. The result is that excellent individual can be produced in less iteration. As it is proved by analysis and test, a better result is obtained by the improved genetic algorithm.