遗传算法在时间最优路径规划中的应用  

Time Optimal Path Planning Using Genetic Algorithm

作　　者：孙德宝[1] 李茶玲[1] 

机构地区：[1]华中理工大学自动控制工程系,武汉430074

出　　处：《系统工程与电子技术》2000年第7期78-81,共4页Systems Engineering and Electronics

摘　　要：提出一种应用遗传算法在三维区域寻找自主机车的最优路径的方法。路径由Bezier曲线得到 ,代表路径的Bezier曲线的控制点 ,作为遗传算法的未知参数来进行二进制编码。由于机车在行驶过程中受动力学和物理上的某种限制 ,遗传算法的适应值函数采取了适当的路径补偿。仿真结果表明了该方法的有效性。This paper presents a method for searching the time optimal path of autonomous vehicles on the three-dimensional terrain by using a genetic algorithm. The path is obtained by a Bezier curve, and the control points of the optimal path presenting Bezier curve, which are considered as the unknown parameters of genetic algorithm, are coded as chromosomes. For the vehicle dynamics and several physical constraints along the paths, we add appropriate penalty for path in the fitness function. Results of the experiments show the efficiency of the method.

关 键 词：时间最佳控制 最优路径规划 遗传算法 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]