Path Planning of Mobile Robots Based on Genetic Algorithm

Abstract

On the path planning of planar mobile robot, the grid map model is transformed into a two-dimensional matrix, and a mobile operator with probability attribute is designed. A genetic coding method based on Number of matrix rows and columns is proposed, and the reciprocal of path distance is used as the normalized fitness. The path planning based on genetic algorithm is realized by using single point duplication on different paths to cross and multi point duplication to mutate. The optimal path can be obtained by designing the appropriate number of groups. The experimental results show that the method is feasible and effective.