遗传算法在时间最优路径规划中的应用

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。

Time Optimal Path Planning Using Genetic Algorithm

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.