基于遗传算法的自动导引机器人全局路径规划

摘要

基于轨线导引的自主移动机器人的全局路径规划是一种较典型的路径规划问题。本文将必经路径点的所有离散组合影射到连续的整数域，然后采用了基于二进制编码的经典遗传算法来进行最优路径规划，收到了良好的效果。仿真结果表明，此算法可在较短时间内求得最优解或近似最优解。%The global path planning for autonomous mobile robot that is based on trajectory guide is a typical path planning problem. In this paper, all combination of passive path points are mapped to integer area and then uses classical binary code method to solve the path planning problem. The result of simulation shows that optimized path can be obtained by this algorithm in a short time.