CAJ | 학술논문

针对标准遗传算法解决机器人处于障碍环境下寻找最优路径局部寻优精度较差、规划效率低的问题，提出一种改进遗传算法的机器人路径规划方法。该算法采用一维编码表示路径，构造了路径最优化的目标函数和适应度函数，利用多个种群拓宽搜索空间，提高了规划效率，采用保优选择策略，避免陷入局部最优。仿真结果表明，改进遗传算法比标准遗传算法路径规划质量高，能够获得平滑的低代价路径，稳定性好，是机器人路径规划的一种较好的方法，且具有一定的推广意义。
침대표준유전산법해결궤기인처우장애배경하심조최우로경국부심우정도교차、규화효솔저적문제，제출일충개진유전산법적궤기인로경규화방법。해산법채용일유편마표시로경，구조료로경최우화적목표함수화괄응도함수，이용다개충군탁관수색공간，제고료규화효솔，채용보우선택책략，피면함입국부최우。방진결과표명，개진유전산법비표준유전산법로경규화질량고，능구획득평활적저대개로경，은정성호，시궤기인로경규화적일충교호적방법，차구유일정적추엄의의。
In order to improve the survivability of robot,and to overcome the poor ability at local searching precision and stabilization of the simple genetic algorithm,this paper proposed an improved genetic algorithm about route planning.The route was denoted by one-dimension coding,and the obj ective function and the fitness function of the route planning problem were constructed.It adopted multi-population to broaden search scope,and chose best for better efficiency.The simulation results show that the improved genetic algorithm has higher efficiency and stabilization than simple genetic algorithm,and it can also gain smooth and low cost route.