基于改进遗传算法的路径规划MATLAB实现

1、基于遗传算法的路径规划 MATLAB实现主程序：clear all;close all;t=23;%过程点个数=t - 1s=500;%种群规模pc=0.90;%交叉概率pm=0.20;%变异概率pop=zeros(s,t);for i=1:spop(i,1:t-1)=ra ndperm(t-l);endfor k=1:1:2000%进化代次数kif mod(k,10)=1kendpop=luji ngdis(pop);c=15;%选择淘汰个数pop=luji ngselect(pop,c);p=ra nd;if p>=pcpop=luji ngcross(pop);endif p>

2、;=pmpop=luji ngmutate(pop);End endpop min( pop(:,t) J=pop(:,t); fi=1./J;Oderfi,I ndexfi=sort(fi);BestS=pop(l ndexfi(s),:);l=BestS;%安排fi从小到大%使 BestS=E(m),m 即是属于 max(fi)的 Indexfix=2 3 6 10 14 17 22 20 23 25 30 28 25 21 29 16 18 15 9 11 6 5 ; y=5 26 14 29 27 24 28 22 26 30 30 17 13 15 4 13 3 1 6 2 2 7;

3、%过程点坐标% x=1 2 3 4 6 9 11 10 8 9 6 4; %12 个过程点的坐标% y=1 2 3 4 8 10 11 9 5 2 1 2;for i=1:1:t-1 x1(i)=x(l(i);y1(i)=y(l(i)； end x(t)=x(I(1);y(t)=y(I(1);a = 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 11 1 1 1 1 1 1 1 11 1 1 1 1 1 0 1 11 1 1 1 1 1 1 1 11 0 1 1 1 1 1 1 11 1 1 1 1 1 1

4、 1 11 1 1 1 1 1 1 1 11 1 1 1 1 1 1 0 11 1 1 1 1 1 1 1 10 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 11 1 1 1 1 1 1 0 11 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 11 1 1 0 1 1 1 1 11 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 10 1 1 1 1 1 1 0 11 1 1 1 1 1 0 1 11 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 11 1 1 1

5、 1 1 1 1 11 1 1 0 1 1 1 1 11 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 11 1 11 1 11 1 11 1 11 1 11 1 10 1 11 1 11 1 1；%31*3 栅格%a = 1 1 1 1 1 1 1 1 1 11 0100111110 0111101101 1111111111 1111111111 0011011111 1111111101 1111111110 111110011；%11*11 栅格b = a;b(e nd+1,e nd+1) = 0;coIorm ap(0 0 0;1 1

6、 1),pcolor(b) axis image xy;%绘制栅格图 hold on;figure(1);plot(x,y,'-or');适应度函数程序：luji ngdis.mfun cti on pop=qiujuli(pop)s,t=size(pop);for i=1:1:sdd=0;for j=1:1:t-2dd=dd+luji ngcalculate(pop(i,j),pop(i,j+1);endpop(i,t)=dd;End距离计算程序：luji ngcalculate.mfunction d=juli(m,n)x=2 3 6 10 14 17 22 20 23 2

7、5 30 28 25 21 29 16 18 15 9 11 6 5 ; y=5 26 14 29 27 24 28 22 26 30 30 17 13 15 4 13 3 1 6 2 2 7; %x=1 2 3 4 6 9 11 10 8 9 6 4;% y=1 2 3 4 8 10 11 9 5 2 1 2;d=sqrt(x(m)-x(n)F2+(y(m)-y(n)F2);选择算子程序：luji ngselect.mfun cti on pop=select(pop,k)s,t=size(pop);m11=(pop(:,t);m11=m11'mmax=zeros(1,k);mmi

8、n=zeros(1,k);num=1;while num <k+1a,mmax( nu m)=max(m11);m11(mmax( nu m)=a;num=nu m+1;endnum=1;while num <k+1b,mmi n(nu m)=mi n( m11);m11(mmi n(nu m)=a;num=nu m+1;endfor i=1:kpop(mmax(i),:)=pop(mmi n(i),:);End交叉算子程序：luji ngcross.m fun cti on pop=cross(pop)s,t=size(pop);pop仁pop;for i=1:2:sm=ran

9、dperm(t-3)+1;crosspoi nt(1)=mi n( m(1),m(2);crosspoi nt(2)=max(m(1),m(2);for j=1:crosspoi nt(1)while fin d(pop(i,crosspo in t(1)+1:crosspo in t(2)=pop(i,j) zhi=fi nd(pop(i,crosspoi nt(1)+1:crosspoi nt(2)=pop(i,j); y=pop(i+1,crosspoi nt(1)+zhi);pop(i,j)=y;endendfor j=crosspo in t(2)+1:t-1while fin d(

10、pop(i,crosspo in t(1)+1:crosspo in t(2)=pop(i,j) zhi=fi nd(pop(i,crosspoi nt(1)+1:crosspoi nt(2)=pop(i,j); y=pop(i+1,crosspoi nt(1)+zhi);pop(i,j)=y;endendendpop=luji ngdis(pop);for i=1:sif pop1(i,t)vpop(i,t)pop(i,:)=pop1(i,:);endEnd变异算子程序：luji ngmutate.mfun cti on pop = mutate(pop)s,t=size(pop);pop仁pop;for i=1:2:sm=ran dperm(t-3)+1;mutatepoi nt(1)=mi n( m(1),m(2);mutatepoi nt(2)=max(m(1),m(2);mutate =roun d(mutatepoi nt(2)-mutatepoi nt(1)/2-0.5); for j=1:mutatezhon g=pop(i,mutatepo in t(1)+j)