Path Planning of Rescue Robot Based on Quadratic Optimization
Aiming at the low efficiency of rescue robot path planning in the current emergency rescue process,an improved genetic algorithm and quadratic optimization method is adopted to optimize the res-cue path.First,the traditional genetic algorithm is improved in the following way.In the initialization process,a heuristic feasible point insertion method is used to establish the initial population,a path smoot-hing evaluation function is added to the fitness function,and the method of"focusing on the big and relea-sing the small"is adopted in the retention strategy,which greatly improves the overall convergence ability and convergence speed of the algorithm.Secondly,on the basis of the initial route,the path is optimized section by section from the starting point to the end point to further reduce the length of the planned path and the number of inflection points.Finally,the method is simulated.The simulation results show that compared with the suboptimal method,the path length of this method is reduced by 2.61%,2.21%,3.52%and 1.22 ‰ respectively,and the average convergence times and search time are reduced,which can effectively solve the defects of traditional genetic algorithms and improve the rescue ability of rescue robots.
NETL
NSTL
万方数据
维普
