一种新的编码方法解决路径规划问题

摘要

This paper presents a novel method for robot path planning using genetic algorithm (GA) under polar coordinates space. A concise encoding approach and a speedy computation of fitness means are introduced, and a refining process is adopted to remove the unnecessary points of path made by GA algorithm. Results of simulation show that this path planning method can be used to generate moving path in the complex and multi-obstacle environment for robot.%提出了一种在极坐标环境下应用遗传算法求解机器人路径规划问题的方法.该方法采用简洁有效的路径染色体编码方法和快速的个体适应度计算方法,并对生成的初始路径点集进行提炼处理,以剔除其中含有的不必要拐点;仿真结果表明该方法可以解决大范围、多障碍环境的机器人路径规划问题.