毕业设计（论文）-遗传算法在机器人路径规划中的应用.docVIP

遗传算法在机器人路径规划中的应用 摘要 移动机器人路径规划作为自主式移动机器人技术的一个重要组成部分，是研究移动机器人技术较为活跃的课题之一，吸引了国内外大批的研究学者。随着各种新方法和新技术的不断出现，对路径规划的研究有了更广阔的天地。我国在智能移动机器人研究方面虽然已经取得了一定的成果，如地面自主导航车、水下自主机器人和飞行机器人等。但由于起步较晚，在研究和应用方面都落后于一些西方国家，而且还没有达到完全实用。因此，进行这项研究，具有一定的理论和工程应用意义。首先从移动机器人的历史和现状出发，对比了国内外的不同发展状况，对移动机器人领域的研究方向进行了综述。着重介绍了移动机器人路径规划中常用的方法，对栅格法、遗传算法等进行了逐一的分析阐述。 遗传算法（简称）是一种借鉴生物界自然选择和自然遗传机制的随机化的搜索算法，它将“适者生存”这一基本的达尔文进化理论引入串结构，并且在串之间进行有组织但又随机的信息交换，伴随着算法的进行，优良的品质被逐渐保留并加以组合，从而不断产生出更佳的个体，也就是不断地接近于最优解。 a important component of the independent -like migration robot technology, the motion robot way plan is one of more active topics of motion robot technology and has attracted large quantities of the domestic and foreign research scholar. With new method and new technologys unceasing appearance, there is a broader world to research the way plan. Although our country had already made certain progress in intelligent migration robot research aspect, such as ground autonomous navigation vehicle, submarine independent robot and flight robot and so on .But it starts late, it falls behind some Western country in the application aspect and has not achieved completely usability. Therefore, it has certain theory and project application significance to conduct this research. Firstly， from the history and the present situation of moved robot ，comparing the domestic and foreign different development condition , it starts the summary. from the research direction of migration robot. It introduces commonly used method in motion robot way plan emphatically, and has carried on the analysis elaboration one by one to the grid law, the genetic algorithm and so on Applied to the plans in the robot way has many traditional optimized methods, this article mainly introduce the most basic one algorithm - genetic algorithm in the application of the robot way plan .The genetic algorithm (GA) is one kind which profits from the biosphere natu