基于遗传算法的移动机器人路径规划仿真  

A Method Based Genetic Algorithm for Path Planning of a Mobile Robot

作　　者：张帆[1] 周庆敏[1] 

机构地区：[1]南京工业大学信息科学与工程学院,江苏南京210009

出　　处：《微计算机信息》2008年第17期267-268,284,共3页Control & Automation

摘　　要：本文主要研究了利用遗传算法实现机器人避障路径规划的方法与途径,构建了障碍物多边形的模型,提出了具备明确物理意义适应度函数与变异算子,从而引导遗传算法快速收敛于最优解。通过计算机仿真表明该控制方法具备良好的路径规划能力。A kind of path planning method based on genetic algorithm for mobile robot with the consideration of the obstacles pattern in the environment is analyzed and worked out. In the method, the fitness function contains explicit physic means and corresponding mutation operator is provided.so that GA can be lead to an optimized result rapidly.Computer simulation experiment shows that, the method has good path planning ability.

关 键 词：移动机器人 遗传算法 避障路径规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]