关键词: 机器人, 路径规划, 自适应遗传算法, 遗传算法

Abstract:

Aiming at the shortcomings of existing genetic algorithm in solving robot path planning, such as slow convergence speed and easy to fall into local optimum, this paper proposes a robot path planning method based on adaptive genetic algorithm. This method introduces a reversal operator, adds an insert operator and a delete operator, and proposes a new adaptive strategy to adjust the crossover and mutation probabilities to better avoid falling into the local optimum and improve the efficiency of algorithm optimization. The algorithm is verified by examples in MATLAB and Inte3D platform. The experimental results show that the improved adaptive genetic algorithm is more effective than the existing genetic algorithms.

Key words: robot, path planning, adaptive genetic algorithm, genetic algorithm