摘要
本文主要研究了利用遗传算法实现深海集矿车避障路径规划的方法。将连续的路径离散化,并用随机数模拟各路径种群。把二维的路径转化为一维,生成简单的路径基因。提出了物理意义明确的适应度函数和相应的变异算子,从而引导遗传算法快速收敛于最优解。实验仿真表明,该算法能够快速、稳定的搜寻到所需的最佳路径。
A kind of path planning method based on genetic algorithm for mobile robot with the consideration of the obstacles in the environment is analyzed and worked out. In this paper the continuous path is simulated by scatter point and uses the random number to represent the path. The path of two dimensions is reduced into one dimension to produce simple path gene. In the method the fitness function contains explicit physic means and corresponding mutation operator is provided so that GA can be lead to an optimized result rapidly. The experiment shows that this algorithm can get a optimal path fast and steady.
出处
《机电工程技术》
2006年第3期40-41,59,共3页
Mechanical & Electrical Engineering Technology
