论文部分内容阅读
ACR(物品自动运送机器人 )的全局路径规划是一种特殊而又典型的机器人路径规划问题 ,可转化为一种TSP问题 .通过深入分析问题自身特性并辅以大量的仿真实验 ,对遗传算法的选择、交叉、变异等操作及其相关参数作了深入细致的优化 ,同时将“进化逆转”操作引入标准遗传算法框架中 ,最终获得了一种性能良好的全局路径规划算法 .仿真结果表明 ,此算法可在较短时间内求得最优解或准最优解
The global path planning (ACR) is a special and typical robot path planning problem that can be transformed into a kind of TSP problem.By analyzing the characteristics of the problem and supporting a large number of simulation experiments, the genetic algorithm Selection, crossover, mutation and other related parameters and their related parameters are deeply and meticulously optimized.At the same time, the “evolutionary reversal” operation is introduced into the standard genetic algorithm framework, and finally a good global path planning algorithm is obtained.The simulation results show that this The algorithm can find the optimal solution or quasi-optimal solution in a short time