机械科学与技术2017，Vol.36Issue(5)：711-716,6.DOI:10.13433/j.cnki.1003-8728.2017.0509
改进遗传算法在移动机器人路径规划中的应用研究
Research on Mobile Robot Path Planning by using Improved Genetic Algorithm
摘要
Abstract
In order to deal with the problem such as slow convergence speed etc.of basic genetic algorithm for mobile robot path planning,an improved adaptive genetic algorithm is proposed.This algorithm can adjust the crossover probability and mutation probability automatically according to the change of the fitness value in the evolutionary process,thus to avoid falling into local optimal solution and overcome the shortcoming of prematurity.Meanwhile,the grid method is used to model the robot working space.The simulation for mobile robot path planning is performed and the comparison results show that this method is valid and the quality of robot path planning can be improved effectively by using the proposed genetic algorithm.关键词
路径规划/移动机器人/自适应遗传算法/栅格法Key words
path planning/mobile robot/adaptive genetic algorithm/grid method分类
信息技术与安全科学引用本文复制引用
王雷,李明,蔡劲草,刘志虎..改进遗传算法在移动机器人路径规划中的应用研究[J].机械科学与技术,2017,36(5):711-716,6.基金项目
国家自然科学基金项目(51305001)、安徽省自然科学基金项目(1708085ME129)及安徽省高校优秀青年人才支持计划重点项目(gxyqZD2016125)资助 （51305001）
