Aiming at the exsiting problems of precocity and slow convergence when the Genetic Algorithm is applied to mobile robot path planning,an improved Genetic Algorithm is proposed.By improving the generation method of the initial population,the octree is combined with the bootstrap function to improve the quality of the initial population.The combination method of roulette and elite retention strategy is used in the selection operation to avoid the algorithm falling into the local optimum due to the loss of the excellent individuals,and the correction operator is added in the genetic operation to ensure the the individual validity after evolution while not affecting the evolution.Simulation experiments show that the improved Genetic Algorithm,compared with the basic Genetic Algorithm,converges quickly,has high efficiency in finding the optimum,and is not easy to fall into the local optimum.It is better than the basic Genetic Algorithm in the overall performance.
关键词
移动机器人/路径规划/遗传算法/改进遗传算法
Key words
mobile robot/path planning/Genetic Algorithm/improved Genetic Algorithm
维普
万方数据