二次划分和改进遗传算法的机器人路径规划.pdf

ComputerEngineeringandApplications计算机工程与应用 二次划分和改进遗传算法的机器人路径规划 崔 靖 ，朱庆保 ，王 娟t CUIJing，ZHU Qingbao ，WANG Juan 1．南京师范大学 计算机科学与技术学院，南京 210097 2．江苏省信息安全保密技术工程研究中心，南京 210097 1．SchoolofComputerScienceand Technology ，NanjingNormalUniversity，Nnajing210097，China 2．Jiangsu Research CenterofInformation Security and ConfidentialEngineering ，Nanjing210097，China． CUIJingZHU Qingbao，WANG Juan．Pathplanningofrobotbasedonseconddivisionandimprovedgeneticalgorithm ． ComputerEngineeringandApplications，2011，47(28)：232．236． Abstract： In robotpath planning algorithmsbased on genetic algorithm itis difficultthatthe granularity ofgrid cells is ， controlled according to therobot’Senvironment，and population initialization havesome shortages ．Thereforeallimprovedpath planningalgorithm isproposed．In thealgorithm ．the sizeofgrid cellsin robot’Sfield isdividedagain according tothe infor． mation ofobstaclesin theenvironment，which makesthelength ofchromosome in thepopulation ismoresuiatble to hteen． vtronment，SO asto improvethe efficiency andperfomr ance ofalgorithm ，athte same time，anew methodbasedon insur- ante matrix to generate initialpopulation is proposed，it can improve initialpopulation’S ergodicity and feasibility in the search space．The simulation showsthatrobotcan notonly plan a optimalpath with rapid speed butalso avoid collision safeyt usingthealgorithm inthecomplicatedenvironment，andtheresultsobtainedaresatisfactory． Key words：geneticalgorithm ；second division ofenvironment；recessivegene；dominantgene；insurance matrix 摘 要 ：针对 已有基于遗传算法的机器人路径规划的栅格建模方法粒度难以控制及种群初始化等方面的不足，提出了根据障碍 物启发信息对环境二次