工程设计学报2023，Vol.30Issue(6)：697-706,10.DOI:10.3785/j.issn.1006-754X.2023.03.136
基于跳点搜索-遗传算法的自主移动机器人路径规划
Path planning of autonomous mobile robot based on jump point search-genetic algorithm
摘要
Abstract
The adaptive crossover operators and mutation operators were introduced to integrate the improved jump point search(JPS)algorithm with the adaptive genetic algorithm,solving the problems of multiple inflection points,susceptibility to getting stuck in local optima,large number of iterations,and long optimization time in the optimal path analysis of genetic algorithm.The jump point search-genetic(JPSG)algorithm was obtained.JPSG algorithm used the efficient local search ability of JPS algorithm to improve the overall search ability and accelerate the overall convergence trend of the algorithm.The global search capability of improved genetic algorithm was used to change the state that JPS algorithm could not resolve the optimal path under complex obstacles,and improved the adaptability of the algorithm to dynamic environment.The path planning simulation in the grid matrix shows that compared with improved genetic algorithm and traditional genetic algorithm,JPSG algorithm can effectively shorten the optimization execution time,improve the optimization accuracy and reduce the operation execution times,and has obvious advantages in stability,accuracy and rapidity.关键词
遗传算法/动态环境/自适应算子/跳点搜索算法/路径规划Key words
genetic algorithm/dynamic environment/adaptive operator/jump point search algorithm/route planning分类
信息技术与安全科学引用本文复制引用
田雅琴,胡梦辉,刘文涛,侯寅智..基于跳点搜索-遗传算法的自主移动机器人路径规划[J].工程设计学报,2023,30(6):697-706,10.基金项目
国家自然科学基金资助项目(52005358) （52005358）
山西省重点研发项目(202102020101011) （202102020101011）
山西省应用基础研究面上自然基金(201901D111240) （201901D111240）
山西省回国留学人员科研资助项目(2016-095) （2016-095）
