CAJ | 학술논문

移动机器人合理的路径规划是进行探索任务的前提，针对移动机器人路径规划的复杂性，把遗传算法引入到机器人路径规划中，而标准的遗传算法存在着收敛速度慢、效率低等缺陷，提出一种改进遗传算法的移动机器人路径规划方案，在栅格环境下对移动机器人路径规划进行仿真测试，仿真结果表明此方案能缩小路径的局部查找范围，提高发现最优路径的效率，整体性能优于标准遗传算法。
이동궤기인합리적로경규화시진행탐색임무적전제，침대이동궤기인로경규화적복잡성，파유전산법인입도궤기인로경규화중，이표준적유전산법존재착수렴속도만、효솔저등결함，제출일충개진유전산법적이동궤기인로경규화방안，재책격배경하대이동궤기인로경규화진행방진측시，방진결과표명차방안능축소로경적국부사조범위，제고발현최우로경적효솔，정체성능우우표준유전산법。
Reasonable path planning of mobile robot is the premise for exploration missions, in view of the complexity of path planning for mobile robot, The genetic algorithm is introduced to the robot path planning, The standard genetic algorithm has slow convergence speed, low efficiency,this paper presents an improved genetic algorithm for mobile robot path planning, the simulation test to mobile robot path planning in grid environment, simulation results shows that this scheme can reduce the range of searching the optimal path, improve the efficiency of the optimal path search, the overall performance is better than the standard genetic algorithm.