Abstract: For multi-robots system，a new off-line cooperative path planning algorithm based on fixed point and genetic algorithm is suggested.This solution takes advantage of parallel computing，feature of local-optimum-free and statistically optimum-path-generation from GA.Furthermore, it combines fixed point method which effectively reduces the wastes of robot path.Simulation results show that the strategy gains more optimum path with less time and generates controlling path for individual robots more easily.

摘要： 针对多机器人协作系统，提出了一种新的混合定点转动和遗传算法的方法，解决其协作路径规划问题。该方法利用遗传算法并行计算、不易陷入局部最优的优点，具备概率上寻找全局最优解的能力，同时结合了定点转动法易实现、有效减少单机器人路径浪费的优点。仿真实验结果表明，该规划方法运算速度较快，在得到有效规划路径的同时，也易于实现对单机器人的控制。