“机器人”路径改进型单亲遗传算法规划及其仿真

在中国机器人大赛"机器人游中国"比赛项目的路径规划基础上,为克服遗传算法在有约束组合优化问题中计算效率不高的问题,提出了改进的单亲遗传算法.该算法在传统单亲遗传算法的计算步骤中,引入了交换算子、提前算子和修复算子,较大程度地提高了单亲遗传算法的搜索效率.Matlab仿真试验表明,改进的单亲遗传算法计算效率和路径规划能力得到大幅度提高.

Robot Path Planning Based on Improved Partheno-Genetic Algorithm

The improved partheno-genetic algorithm is proposed based on the path planning in the Chinese Robot Competition “Robot Tourism in China”,which is aimed at the problem of low computational efficiency of constrained combinational optimization.Three genetic operators of partheno-genetic algorithm-commutating operator,operator in advance,and repair operator,were established without changing the calculation steps of traditional partheno-genetic algorithm;as a result,the search efficiency of partheno-genetic algorithm is largely improved.Simulation experiment shows that compared with genetic algorithm，the proposed improved partheno-genetic algorithm has greatly increased computation efficiency and path planning ability.