动态环境中基于遗传算法的移动机器人路径规划的方法

METHOD OF MOBILE ROBOT PATH PLANNING IN DYNAMIC ENVIRONMENT BASED ON GENETIC ALGORITHM

动态环境中 ,移动机器人的动态路径规划是一个较难解决的课题 .本文提出一种基于遗传算法的移动机器人的路径规划方法 .该方法采用实数编码的方法 ,有明确物理意义的适应度函数 ,以加快实时的运算速度和提高运算精度 .该方法充分挖掘可应用遗传算法解决移动机器人动态路径规划的潜力 .通过计算机仿真表明该控制方法具有良好的动态路径规划能力 .

In the dynamic environment, mobile robot dynamic path planning is a difficult problem to solve. The paper proposesd a method of path planning based on genetic arithmetic. This method utilizes real number coding and adaptive function with definite physical meaning in the dynamic environment so that the real-time operation speed and operation precision can be accelerated and improved respectively. The method makes full use of the available genetic algorithms to solve dynamic path planning problem of mobile robot. Computer simulation experiment shows that, the method has good path planning ability.