改进遗传算法在移动机器人路径规划中的研究  

Research of Improved Ant Genetic Algorithm in Mobile Robot Path Planning

作　　者：赵开新[1] 魏勇[1] 徐立新[1] 王东署 

机构地区：[1]河南机电高等专科学校,河南新乡453002 [2]郑州大学电气工程学院,郑州450001

出　　处：《科技通报》2015年第9期233-236,共4页Bulletin of Science and Technology

基　　金：国家自然科学基金项目(61174085);高等学校博士学科点专项科研基金(20114101110005)

摘　　要：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。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.

关 键 词：遗传算法 移动机器人 路径规划 最优路径 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]