Path planning of mobile robot based on genetic algorithm and gene rearrangement

摘要

In this paper, a mobile robot path planning algorithm based on the rearrangement of gene is proposed for genetic algorithm and applied to solve the problem of mobile robot path planning. Firstly, it needs to build the robot path with the multi-plane model, and the genetic algorithm is used to search the optimal or sub optimal path. Then, with a new algorithm for the route of quadratic optimization, making the large rotation angle of optimization as a smooth path close to the flat angle under the premise of guarantee without intersecting any obstacles. The simulation results show that the algorithm combined with the classical genetic algorithm is better than the basic genetic algorithm, which can not only reduce the complexity of the genetic algorithm but also shorten the path length to obtain the relatively optimal path without collision.