Path planning for mobile robot based on genetic al
2016-11-09
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The midpoint of each obstacle vertex line is the path point, connecting each path point, limiting the starting point and end point of the robot to each path point, using the shortest path algorithm to find the shortest path of the network graph, finding the shortest path from the starting point P1 to the end point PN. The above algorithm uses the condition of the middle point of the connecting line, so it is not the optimal path of the whole planning space. Then the genetic algorithm is used to find the shortest path of each path point PI (I = 1,2,...) n) Adjust, let each path point slide on the corresponding obstacle end line, using pi = Pi1 + Ti × (pi2-pi1) (Ti ∈ [0,1] I = 1,2 n) Then the corresponding Pi is determined, that is, the new path point, and connecting this path point is the optimal path
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