| 小生境伪并行遗传算法在全自主移动机器人路径规划中的应用 |
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| 引用本文： | 沈志华,赵英凯,吴炜炜.小生境伪并行遗传算法在全自主移动机器人路径规划中的应用[J].上海大学学报(英文版),2006,10(5):449-453. |
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| 作者姓名： | 沈志华 赵英凯 吴炜炜 |
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| 作者单位： | 1. 南京工业大学
2. University of Melbourne |
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| 摘 要： | 1IntroductionPath planning of autonomous mobile robot is pivotaltechnique for machine intelligence,which ai ms to finda non-collision path frominitial position to objectiveposition according to evaluation functions in anobstacle space1].It can be described as travelersalesman problem(TSP),a typical combinationopti mization problem,which belongs to the well-known NP-hard opti mization2].The mathematicaldefinition can be regarded as a mapG=(V,E),where eachlinee∈Ehas a nonnegative powerω(…
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| 关 键 词： | 遗传算法 巡回售货员问题 路径优化 伪平行 |
| 文章编号： | 1007-6417（2006）05-0449-05 |
| 收稿时间： | 2004-11-18 |
| 修稿时间： | 2005-11-25 |
Niche pseudo-parallel genetic algorithms for path optimization of autonomous mobile robot |
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| Zhi-hua Shen,Ying-kai Zhao,Wei-wei Wu.Niche pseudo-parallel genetic algorithms for path optimization of autonomous mobile robot[J].Journal of Shanghai University(English Edition),2006,10(5):449-453. |
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| Authors: | Zhi-hua Shen Ying-kai Zhao Wei-wei Wu |
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| Institution: | (1) College of Automation, Nanjing University of Technology, 210009 Nanjing, P.R. China;(2) Department of Electrical and Electronic Engineering, University of Melbourne, 3010 Victoria, Australia;(3) Research Institute of Automation, Nanjing University of Technology, 210009 Nanjing, P.R. China |
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| Abstract: | A new genetic algorithm named niche pseudo-parallel genetic algorithm (NPPGA) is presented for path evolution and genetic
optimization of autonomous mobile robot. The NPPGA is an effective improvement to maintain the population diversity as well
for the sake of avoiding premature and strengthen parallelism of the population to accelerate the search process combined
with niche genetic algorithms and pseudo-parallel genetic algorithms. The proposed approach is evaluated by robotic path optimization,
which is a specific application of traveler salesman problem (TSP). Experimental results indicated that a shortest path could
be obtained in the practical traveling salesman problem named “Robot tour around Pekin”, and the performance conducted by
NPPGA is better than simple genetic algorithm (SGA) and distributed paralell genetic algorithms (DPGA). |
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| Keywords: | genetic algorithms traveler salesman problem (TSP) path optimization niche pseudo-parallel |
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