Continuum Robot Path Planning Based on Improved Genetic Algorithm

摘要

With the development of robotics industry, the robot path planning problem has become a very hot research direction. Among them, continuum robots, as a special kind of robots, have certain differences from ordinary robots in path planning, and it is helpful to develop special path planning strategies for continuum robots for their applications. Therefore, based on the improved genetic algorithm, this paper proposes the path planning strategy of continuum robot and the concept of executing crossable obstacles based on the characteristics of continuum robot itself, and follows the executing crossable obstacles to move the task end point forward to save the driving path and shorten the working time. After the verification of the simulation, the saving effect is about 5%-13%, which verifies the effectiveness of the algorithm and provides a reference for the related research.