摘要： 采用动态可变长编码的方法，以栅格表示环境。针对遗传算法大型障碍物难的问题，采用follow wall行为，较好地解决了基于遗传算法的快速路径规划和大型障碍物避障问题。该算法适应任何形状的障碍物，适用于静态和动态环境中。计算机仿真表明，该算法是一种正确和高效的路径规划方法。

关键词: 路径规划, 移动机器人, 遗传算法, 大型障碍物避障

Abstract: This algorithm adopts a dynamic variable length coding method. It uses grids to indicate the environment and simultaneously aims at the genetic algorithms large-scale barrier to the problem by using the act of follow wall. So it well solves the difficult problem based on genetic algorithms rapid path planning and obstacle avoidance major obstacles. The algorithm adapts to any form of the barrier, and is suitable for static environment and dynamic environments. Computer simulations show that the algorithm is a correct and efficient path planning method.

Key words: path planning, mobile robot, genetic algorithm, larger obstacle avoidance

中图分类号: 

• TP18