摘要
研究了平面障碍环境中避障的遗传算法,重点介绍了障碍环境的模型构造和用遗传算法求解该模型的方法设计.采用了与已有遗传算法不同的染色体编码方式和不同的遗传算子设计,在初始群体产生时尽量避免了引入无效基因,提高了染色体进化的效率,使得该算法具有很好的寻优能力,实验结果也表明了该算法的有效性.
This paper studies the genetic algorithm of path planning in the planar obstacle environment, and lays emphasis on introducing the model structuring of obstacle environment and the method design of using genetic algorithm to solve the model. The mode of chromosome coding and the design of genetic operator are different from those of existing genetic algorithm, and thus avoiding importing invalid gene into chromosome during the initiating colony, speeding the evolving of chromosome and making the algorithm have good ability of optimization finding. Experiments also indicate the validity of the algorithm.
出处
《海军工程大学学报》
CAS
2004年第5期43-47,共5页
Journal of Naval University of Engineering
基金
国家自然科学基金资助项目(60273075)
湖北省自然科学基金资助项目(2003ABA045)
关键词
路径规划
遗传算法
凸多边形
包围盒
path planning
genetic algorithm
convex polygon
encasing box
