Research of Genetic Algorithm for the Global Path Planning for ACR Prototype System

摘要

The global path planning for autonomous conveying robot is a special and typical path planning problem, it can be transformed to a TSP problem. On the analysis of the problem characteristics and simulation results, via optimizing the selection, crossover and mutation GA operators and their parameters, and importing the Evolve_Inversion operator into the standard GA framework, this paper proposes a high_powered global path planning algorithm. This algorithm can find the optimal or nearly optimal solution in little time, which is proved by the simulation results.