动态确定基因数的遗传算法路径规划

Path planning based on genes defined dynamically of genetic algorithm

静态环境中移动机器人全局路径规划一直是路径规划中的一个重要问题。探讨了一种改进的基于遗传算法的静态环境下机器人全局路径规划方法的可行性。该方法通过障碍物的数量来动态确定所需的路径点数(基因),使得它能更广泛地应用于不同环境,最后对结果进行修正。仿真实验表明了该方法的有效性。

Mobile robot global path planning in a static environment is an important problem all along. This paper discussed the feasibility about a modified method of global path planning based on genetic algorithm in a static environment. The method dynamically defined the pots（genes） demanded according to the number of the obstacles to be widely applied to diffe-rent conditions. Finally, repaired the planned-path. Experimental results in simulation prove that the method is correct and feasible.