[1]申晓宁,郭毓,陈庆伟,等.多目标遗传算法在机器人路径规划中的应用[J].南京理工大学学报(自然科学版),2006,(06):659-663.
 SHEN Xiao-ning,GUO Yu,CHEN Qing-wei,et al.Application of Multi-objective Optimization Genetic Algorithm to Robot Path Planning[J].Journal of Nanjing University of Science and Technology,2006,(06):659-663.
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多目标遗传算法在机器人路径规划中的应用
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2006年06期
页码:
659-663
栏目:
出版日期:
2006-12-30

文章信息/Info

Title:
Application of Multi-objective Optimization Genetic Algorithm to Robot Path Planning
作者:
申晓宁;郭毓;陈庆伟;胡维礼;
南京理工大学自动化学院, 江苏南京210094
Author(s):
SHEN Xiao-ningGUO YuCHEN Qing-weiHU Wei-li
School of Automation,NUST,Nanjing 210094,China
关键词:
多目标优化 遗传算法 机器人 路径规划
Keywords:
mult-i objective optim izat ion genetic a lgorithms robots path p lann ing
分类号:
TP 18
摘要:
针对具有多个优化目标的机器人全局路径规划问题,提出一种改进的多目标优化遗传算法。在初始群体的生成中,采用把随机法和基于问题先验知识的启发式方法相结合的策略,以加快收敛速度;在遗传算子的设计中,引入删除、修复和平滑算子,以提高算法的搜索效率;在选择算子中,加入避免外部存储器中出现相同个体的机制,以防止早熟收敛。仿真结果表明:该文算法运行一次能够有效地产生一组近似Pareto最优路径解。
Abstract:
An improved mult-i objective optim ization genetic algor ithm is proposed to optim ize the problem o f robo t g lobal path p lanning w ithmultiple ob jectives. The random approach comb ined w ith the heuristicm ethod based on domain know ledge are emp loyed in the init ialization to mot ivate the convergence speed and three genetic operators named deletion, repa ir and smoo th are adopted to improve the searching efficiency o f the algorithm. In the se lect ion operator, a strategy that avoids the appearance of the same ind iv idua ls in the archive is incorporated to prevent prem ature. S imulation resu lts indicate that the proposed algo rithm can find a set of approx im ate Pareto opt imal so lu tions e-f f iciently in one run.

参考文献/References:

[ 1] A lexopoulos C, Gr iffin P M. Path planning for a mob ile robo t[ J]. IEEE T ransaction on System, M an and Cybernetics, 1992, 22( 2): 318- 322.
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[ 4] X iao J, M ichalew icz Z, Zhang L, et a.l Adaptive evolutionary planne r/nav iga to r for mob ile robots [ J ]. IEEE Transaction on Evo lu tionary Com puta tion, 1997, 1( 1): 8- 28.
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备注/Memo

备注/Memo:
基金项目: 国家自然科学基金( 60474034; 60174019) 作者简介: 申晓宁( 1981- ), 女, 江苏南京人, 博士生, 主要研究方向: 进化算法、多目标优化, E-mail:sxnystsyt@sina.com.cn; 通讯作者: 胡维礼( 1941 - ), 男, 江苏东台人, 教授, 博士生导师, 主要研究方向: 智能控制、网路控制系统、机器人控制、数字交流伺服系统, E-mail: hwl1002@ hotma i.l com。
更新日期/Last Update: 2006-12-30