基于遗传算法的机器人路径规划

Robot Motion Planning Based On Genetic Algorithms

采用栅格法表示机器人工作环境模型 ,用序号编码 ,直角坐标与序号混合应用 ,采用遗传算法产生初始路径种群 ,并对其优化找出最短路径 ,然后增加删除、插入算子达到路径规划中避障的要求 .用MATLAB语言进行仿真研究 ,仿真结果表明遗传算法进行避障和路径规划的有效性和可行性 .

The grids are used to express the two dimensional workspace with some obstacles in this paper.The method uses sequence number of grid with right angle coordinate to code for genetic algorithms,rather than the usual binary coding method.The initial chromosomes are generated by using a string of sequence numbers with the corresponding grids not continuous in space but free of obstacles.Increase operator and delete operator to dodge the barriers are presented.Simulation results using Matlab Toolbox show that the method is effective and feasible.