基于改进遗传算法与Morphin算法的机器人路径规划方法（英文）

Robot path planning method based on improved genetic algorithm and Morphin algorithm

为了实现动态复杂环境下机器人路径的优化,在建立栅格地图模型的基础上,针对传统遗传算法的不足,一是通过改进适应度函数使得到的路径更加平滑,二是将改进后的遗传算法与Morphin算法结合起来,使得机器人能够实时有效的躲避障碍物。仿真实验结果表明:通过结合改进遗传算法和Morphin算法的特点,能够使机器人沿着一条短而平滑的最优路径快速、安全地到达目标点。

In order to realize the optimization of the robot path under the dynamic complex environment,on the basis of the establishment of the grid map model,aiming at the disadvantage of the traditional genetic algorithm,one is to make the path more smooth by improving the fitness function,and the second is to combine the improved genetic algorithm with the Morphin algorithm,so that the robot can effectively avoid the obstacle in real time.The simulation results show that by combining the improved genetic algorithm and the Morphin algorithm,the robot can quickly and safely reach the target point along a short and smooth optimal path.