关键词: 移动机器人, 路径规划, 粗糙集, 遗传算法

Abstract: The traditional genetic algorithm exists some disadvantages，such as huge number of initial population and slow velocity of optimization and convergence.The method based on rough set reducing decision-making and deleting redundant attributes was proposed.Firstly，this paper established the environment model based on specific grid method，obtained the initial decision-making table of mobile robot.Secondly，it deducted the minimum decision-making rules with rough set reduction，and used it in training the initial population.Finally，it optimized the initial population with genetic algorithm，and obtained the optimal path planning.The experiments both in simple and complex environment have been carried on.The simulation results indicate that the method can reduce the scale of the population，minimize the searching scope，improve the velocity of the convergence and optimization，and also，confirm the feasibility and the superiority of the method.

Key words: mobile robot, path planning, rough set, genetic algorithm