基于栅格地图的遗传算法路径规划

The Occupancy Grid Map-building with Neural Network

为提高移动机器人路径规划问题的求解质量和求解效率并克服遗传算法用于复杂环境下路径规划存在的常规缺陷,本文改进了运用于路径规划的遗传算法操作,提出了一种基于栅格地图的完善遗传算法路径规划方法,通过引入路径修复机制来提高遗传算法的收敛速度。仿真结果表明这种方法能够很好的解决移动机器人点对点的路径规划问题。

In order to improve the solution quality and efficiency of the Mobile Robot＇s path planning program and overcome the existed conventional defect of the Genetic Algorithm when it was used in the complex environment, This thesis modified the Genetic Algorithm operation, proposed a new path planning technique which can accelerate the convergence velocity of Genetic Algorithm through the introduction of path repair mechanism. It can be seen from the experiment results that this method can effectively solve the Mobile Robot＇s path planning program from point to point.