关键词: 遗传算法, 环境二次划分, 隐性基因, 显性基因, 保险矩阵

Abstract: In robot path planning algorithms based on genetic algorithm，it is difficult that the granularity of grid cells is controlled according to the robot’s environment，and population initialization have some shortages.Therefore an improved path planning algorithm is proposed.In the algorithm，the size of grid cells in robot’s field is divided again according to the information of obstacles in the environment，which makes the length of chromosome in the population is more suitable to the environment，so as to improve the efficiency and performance of algorithm，at the same time，a new method based on insurance matrix to generate initial population is proposed，it can improve initial population’s ergodicity and feasibility in the search space.The simulation shows that robot can not only plan a optimal path with rapid speed but also avoid collision safety using the algorithm in the complicated environment，and the results obtained are satisfactory.

Key words: genetic algorithm, second division of environment, recessive gene, dominant gene, insurance matrix