基于改进遗传算法的移动机器人路径规划研究

Research on Path Planning of Mobile Robot Based on Improved Genetic Algorithm

文中针对栅格环境下移动机器人的路径规划问题,提出了一种改进的遗传算法,其主要研究工作和创意点如下:1)使用栅格方法创建实验模拟模型;2)鉴于遗传算法在生成初始种群时的盲目性,对初始化种群算法作出相应改进,从而保障路径的无障碍性;3)改良交叉、变异算子,提高种群多样性。仿真实验结果表明,改进的遗传算法比文献[1]和文献[2]中的算法具有更好的优化效果。

Aiming at the path planning problem of mobile robot in grid environment,an improved genetic algorithm is proposed.The main research work and innovation points of this paper are as follows:l)The grid method is used to establish the experimental simulation model;2)In view of the blindness of the genetic algorithm in generating the initial population,the initial population algorithm is improved so as to ensure the accessibility of the path;3)Improve the crossover and mutation operators to improve the diversity of the population.The simulation results show that the improved genetic algorithm has better optimization effect compared with literature[l]and literature[2].