摘要
针对应用遗传算法进行移动机器人全局路径规划时遇到的早熟收敛和收敛速度慢等问题,提出一种基于定长二进制路径编码方式的改进遗传算法。研究此编码方式下的改进遗传操作,采用比例阈值自适应((N+K,N)+N)双种群进化策略,有效提高了算法收敛速度和全局寻优能力。仿真实验表明了该算法的有效性。
Aiming at the problems of genetic algorithm application in global path planning for mobile robot including premature convergence and slow convergence,in this paper the authors propose an improved genetic algorithm based on the encoding means of fixed length binary path,and study the improved genetic operations in this path encoding.By using proportion threshold adaptive（（N＋K,N）＋N） and dual-population evolution,the convergence speed and global optimization ability of the algorithm are effectively improved.Simulation experiment shows the validity of the algorithm.
出处
《计算机应用与软件》
CSCD
2011年第8期113-116,共4页
Computer Applications and Software
基金
科技部中小企业创新基金(09C26215105358)
