华中科技大学学报（自然科学版）2024，Vol.52Issue(5)：158-164,7.DOI:10.13245/j.hust.240403
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
摘要
Abstract
A modified genetic algorithm was proposed to address the issues of slow population evolution,and longer optimal path obtained by traditional genetic algorithms when solving path planning problems under the sampling point model.To enhance the quality of the initial population,adaptive adjustment of step size was suggested to limit the selection range of offspring nodes,within which random selection was conducted.Two parent paths were randomly selected,forming a rectangular search area for offspring nodes between corresponding pairs of nodes.A point was chosen from each area,and connections were made sequentially to obtain offspring individuals after crossover,thereby avoiding ineffective crossovers due to insufficient intersection points in the sampling point model.To address the issue of unpredictable mutation effects,the line connecting the preceding and succeeding points of the selected mutation parent node served as a guide.The closer a node was to this line,the higher the probability of it being selected as the mutation offspring node,rendering the mutation point selection more directional.Comparative experiment results show that the proposed modified genetic algorithm effectively improves pathfinding efficiency when dealing with path planning problems based on sampling points.The convergence speed of the optimal path using the modified algorithm is approximately 60%higher than that of traditional genetic algorithms,and the length of the optimal path is reduced by up to 2.42 m,with the highest improvement in the convergence speed of the optimal path reaching 56%compared to other literature algorithms.关键词
移动机器人/路径规划/改进遗传算法/自由交叉/目标导向Key words
mobile robot/path planning/improved genetic algorithm/free crossover/goal oriented分类
信息技术与安全科学引用本文复制引用
王雷,王艺璇,李东东,王天成..基于改进遗传算法的移动机器人路径规划研究[J].华中科技大学学报（自然科学版）,2024,52(5):158-164,7.基金项目
安徽省高校优秀拔尖人才培育项目(gxbjZD2022023) （gxbjZD2022023）
安徽省高校自然科学研究重点资助项目(2022AH050978,2023AH050935,2023AH052915) （2022AH050978,2023AH050935,2023AH052915）
芜湖市科技计划资助项目(2022jc26) （2022jc26）
安徽工程大学检测技术与节能装置安徽省重点实验室开放研究基金资助项目(JCKJ2021A06,JCKJ2022B01) （JCKJ2021A06,JCKJ2022B01）
安徽工程大学-鸠江区产业协同创新专项基金资助项目(2022cyxtb6) （2022cyxtb6）
安徽工程大学科研启动基金资助项目(2022YQQ002). （2022YQQ002）
