基于节点扩张的遗传算法在机器人路径规划中的应用
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引用本文:李光,彭礼辉.基于节点扩张的遗传算法在机器人路径规划中的应用[J].计算技术与自动化,2011,(2):45-48
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作者单位
李光,彭礼辉 (湖南工业大学 机械工程学院湖南 株洲412008) 
中文摘要:将一种新型的遗传算法应用于移动机器人路径规划。提出基于障碍节点扩张法的无障碍连通路径初始种群的产生算法,以及基于待变异节点扩张的变异操作算法,同时在交叉、变异操作之后进行局部优化,简化编程,提高适用性。仿真结果表明同普通的A*算法相比较,该路径规划算法具有寻优质量高、规划路径更为平滑的特点
中文关键词:机器人  遗传算法  路径规划  节点扩张
 
Application of Genetic Algorithm with Node Expanding Method to Path Planning of Robots
Abstract:A new genetic algorithm was applied to path planning of robots. A generating approach for obstacle free and continuous paths based on obstacle nodes expending strategy was developed for initial population formation, a pro mutating nodes expending method also used for mutation operation, and local optimum program was also introduced to crossover and mutation operations as well. The simulation results demonstrate that, comparing with A*algorithm, the proposed algorithm has following advantages such as higher searcher quality, more smooth path, simplified programming method and better adaptability compared to the basic A*algorithm.
keywords:robots  genetic algorithm  path planning  node expanding
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