关键词: 路径规划, 邻域搜索, 局部截断变异, 混杂多点交叉

Abstract: Due to the shortcomings of traditional genetic path planning algorithm under complex environments, such as difficulty in repairing feasible path and the feature of premature convergence, an improved genetic algorithm based on optimum schema probing mechanism is presented. The novel algorithm has found that neighborhood searching can enhance the repair efficiency when combining it with middle-value insertion and waypoint backtracking; in addition, the operation that adaptively truncated mutation can improve the ability of space exploration; both hybrid multi-point crossover and schema optimization strategy can strengthen the optimization performance of algorithm. This method has been proved to be correct and valid in simulation experiment.

Key words: path planning, neighborhood searching, adaptively truncated mutation, hybrid multi-point crossover