基于遗传算法的移动机器人路径规划研究.doc江南大学硕士学位论文基于遗传算法的移动机器人路径规划研究姓名:杜宗宗申请学位级别:硕士专业:控制理论与控制工程指导教师:刘国栋20090501AbstractAbstract砀emobilerobotisanimportantbranchofthefieldofrobot,Inparticular,path—planningiscriticaltomobilerobotsystembecauseitdeterminesthequalityoftherobot’,path-:obstacleavoidancepathplanningandTSPpath-—planningistheproblemsomeknowndistancebetweenthecity,hasasalesmantobevisitedthesecities,andvisiteachcityonlyonce,finallyreturntothestartingcity,howtoarrangethevisittothecityofhisorder,,,;ithasstrongglobalandlocalsearchability,inlargenumberofvariables,—avoidingpathplanning,andadoptsnewinitialpopulationgenerationalgorithm,thesimulationresultsshowthatthisalgorithmmakemobilerobotpathplanningtoimprovetheobstacle-avoidanceconvergencespeed,-planningproblem,icalgorithmtosolveTSPpath—,thepaperalsoadoptedprobabilitygreedymethodproduceoriginalpopulation,somegreedymethodtogenerateinitialpopulation,theinitialpopulationgenerationmethodslightlyworsethanthegreedymethod,,keeppopulationdiversity,improveconvergencespeed,icalgorithm,thehigherlevelofindividualuseshybridalgorithmtocross,andadopttheoutstandingrecordsmixedand“fatherandso
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