Knowledge-guided genetic algorithm for path planning of robot
MA Xiao-ping · Kongzhi yu juece · 2009
In order to improve the convergence speed of traditional genetic algorithm for path planning of robot,a knowledge-guided genetic algorithm is designed by introducing domain knowledge of a path planning problem into the coding of chromosome,initialization of population,genetic operators and optimization operators.The length,safety and smoothness of paths are considered simultaneously during the process of path planning.Four optimization operators,deletion,simplification,modification and smoothness operators,are used to optimize paths searched by the genetic operators.Simulation results show that the proposed method can improve the ability and efficiency of genetic algorithm in solving the practical path planning problem of robot.