The Research Of Mobile Robot Path Planning Based On Genetic Algorithm

At present, with the development of intelligent robotics,People put forward higher requests for the Mobile Robot Navigation,dynamic obstacle avoidance, Path Planning etc.The robot motion of the varied and complex environments determines mobile robot's the path planning problem which is a key research area in the field of intelligent robots. As a mobile robot path planning is an important research content of the mobile robot study, it is a mobile robot index according to the performance (such as distance, time and energy, etc.) from the beginning to the end to find a optimal or Sub-optimal path without collision target state , which is as smooth and safe as possible. This paper is based on combining the advantage and disadvantage of the current multiple path planning methods and it chooses Genetic Algorithm to solve the problems of mobile robot path planning.This paper is based on describing the mobile robot research status and its development trend, then analyses the mobile robot path planning methods, and focus on a path planning method based on the genetic algorithm . Main contents include: First, using the grid method establishes a map of the robot model, using the serial number of methods encodes the robot's path, and using intermittent combination of barrier-free path heuristic method creates the initial population; Second,selecting the shortest path set fitness function; Finally,do the genetic operations, it includes: using round gamble method to choose, using coincidence cross-cross method, using a small mutation probability, crossover probability and mutation probability of adaptive adjustment methods, etc. This article is the global mobile robot path planning in a static environment.Using MATLAB simulation of mobile robot path planning for simulation, it verifys this intelligent bionic algorithm.