Research on Motion Path Planning of Industrial Robot Based on Genetic Algorithms

摘要

Based on the analysis and comparison of the advantages and disadvantages of various current path planning algorithms for industrial robot, this paper studies the path planning of industrial robots based on genetic algorithm. The algorithm uses real-coded variable-length chromosomes. The designed fitness function not only reflects the requirement of path, but also reduces the complexity of function representation and computation time. According to the characteristics of path planning, corresponding genetic operators are designed, and the influence of each parameter on the performance of the algorithm is analyzed. In the perceptible range of the robot, the position information of the motion obstacle is continuously obtained, the direction of motion is predicted, the search process is accelerated, and the feasible satisfactory path is obtained.