|Table of Contents|

Robot Path Planning Method Based on Improved Genetic Algorithm(PDF)

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2021年03期
Page:
49-55
Research Field:
计算机科学与技术
Publishing date:

Info

Title:
Robot Path Planning Method Based on Improved Genetic Algorithm
Author(s):
Tang Yunfeng1; 2; Zhao Jing2; 3; Xie Fei1; 4; Li Xinhuang2; 3; Lin Zhichang2; 3; Liu Yijian1
(1.School of Electrical and Automation Engineering,Nanjing Normal University,Nanjing 210023,China)(2.College of Automation and College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing 210023,China)(3.Jiangsu Engineering Laboratory for Internet of Things and Intelligent Robotics,Nanjing 210023,China)(4.Nanjing Zhongke Raycham Laser Technology Co.,Ltd.,Nanjing 210038,China)
Keywords:
robot; genetic algorithm; smoothness function; elite retention; path planning
PACS:
TP18; TP242
DOI:
10.3969/j.issn.1672-1292.2021.03.007
Abstract:
An improved genetic algorithm is proposed to solve the problem of slow convergence rate and easy to fall into the local optimal solution in robot path planning. The smoothness function with penalty term is added to the fitness function. The elite retention mechanism is introduced to retain the optimal individual of each generation. The crossover probability and mutation probability are adjusted adaptively so that they vary with the number of evolutions. MATLAB is used to simulate and compare the two obstacle maps with the other two algorithms. Experimental results show that the improved algorithm effectively reduces the number of turns of robots in path planning,improve the ability to escape from the local optimal path,and has a stronger ability to find the optimal solution.

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Last Update: 2021-09-30