河北水利电力学院学报2025，Vol.35Issue(2)：28-34,7.DOI:10.16046/j.cnki.issn2096-5680.2025.02.006
基于正交试验法的机器人最优路径问题研究
Research on the Optimal Path Problem of Robot Based on Orthogonal Test Method
摘要
Abstract
To explore the autonomous path planning problem in the process of robot motion.Taking TSP problem as the model,on the basis of genetic algorithm,the orthogonal test method of 5 factors and 4 levels was used to explore the influence of different initialization parameters on the final path results through range and variance analysis.Through the example verification,the results show that the path re-sults corresponding to the number of populations and the number of iterations have a large sum of squared deviations,corresponding to a large mean square.They have a significant impact on the results,while oth-er parameters have less impact.The order of the influence of each parameter on the optimization results from large to small is:the number of iterations,the number of populations,the selection factor,the muta-tion probability,and the crossover probability.Using the orthogonal test method to optimize the parame-ters of the genetic algorithm can avoid the influence of the coupling effect between different parameters when the single parameter is optimized,so as to find a set of optimal parameter combinations suitable for different types and scales of problems.Using this parameter to initialize the genetic algorithm to solve such problems can quickly obtain the optimal solution.关键词
机器人路径规划/遗传算法/MATLAB/正交试验Key words
robot path planning/genetic algorithm/MATLAB/orthogonal test分类
计算机与自动化引用本文复制引用
李海涛,张鹏程,张铁壁,王文成..基于正交试验法的机器人最优路径问题研究[J].河北水利电力学院学报,2025,35(2):28-34,7.基金项目
河北省教育厅科学研究项目资助(ZD2022081),河北省高等学校基本科研业务费研究项目(SYKY2403) （ZD2022081）
