基于两层编码遗传算法的机器人路径规划(英文)

Robot Path Planning Based on Genetic Algorithms with Two Layer Encoding

讨论了在障碍物已知的二维环境里 ,在两个已知点之间寻找最短欧氏路径的问题 .用了一种基于遗传算法的新的空间分割的方法 .在遗传算法中 ,提出了一种新的编码方法———两层编码 .这种编码来源于分子数量遗传学中的遗传机制 .它能够大大增强编码的表达能力 .这种方法的核心就在于通过中间层编码来降低搜索的复杂度 .

This paper focuses on the problem of finding an Euclidean \$(L 2)\$ shortest path between two distinct locations, in a known, obstacle scattered, planar environment. We use a new kind of cell decomposition approach based on the genetic algorithms (GA). We propose a new kind of encoding for the genetic algorithms, called two layer encoding, which comes from the genetics mechanism in molecular genetics. This new kind of encoding can improve the expressing ability of codes. The heart of the two layer encoding is to decrease the complexity of exploration through the middle layer codes.