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300字范文 > 【路径规划】基于matlab GUI改进的遗传算法机器人栅格地图避障路径规划【含Matlab 703期】

【路径规划】基于matlab GUI改进的遗传算法机器人栅格地图避障路径规划【含Matlab 703期】

时间:2019-07-25 17:23:08

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【路径规划】基于matlab GUI改进的遗传算法机器人栅格地图避障路径规划【含Matlab 703期】

一、遗传算法简介

1 引言

2 遗传算法理论

2.1 遗传算法的生物学基础

2.2 遗传算法的理论基础

2.3 遗传算法的基本概念

2.4 标准的遗传算法

2.5 遗传算法的特点

2.6 遗传算法的改进方向

3 遗传算法流程

4 关键参数说明

二、部分源代码

function varargout = newGUI(varargin)% NEWGUI MATLAB code for newGUI.fig%NEWGUI, by itself, creates a new NEWGUI or raises the existing%singleton*.%%H = NEWGUI returns the handle to a new NEWGUI or the handle to%the existing singleton*.%%NEWGUI('CALLBACK',hObject,eventData,handles,...) calls the local%function named CALLBACK in NEWGUI.M with the given input arguments.%%NEWGUI('Property','Value',...) creates a new NEWGUI or raises the%existing singleton*. Starting from the left, property value pairs are%applied to the GUI before newGUI_OpeningFcn gets called. An%unrecognized property name or invalid value makes property application%stop. All inputs are passed to newGUI_OpeningFcn via varargin.%%*See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one%instance to run (singleton)".%% See also: GUIDE, GUIDATA, GUIHANDLES% Edit the above text to modify the response to help newGUI% Last Modified by GUIDE v2.5 02-Feb- 22:22:09% Begin initialization code - DO NOT EDITgui_Singleton = 1;gui_State = struct('gui_Name', mfilename, ...'gui_Singleton', gui_Singleton, ...'gui_OpeningFcn', @newGUI_OpeningFcn, ...'gui_OutputFcn', @newGUI_OutputFcn, ...'gui_LayoutFcn', [] , ...'gui_Callback', []);if nargin && ischar(varargin{1})gui_State.gui_Callback = str2func(varargin{1});endif nargout[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});elsegui_mainfcn(gui_State, varargin{:});end% End initialization code - DO NOT EDIT% --- Executes just before newGUI is made visible.function newGUI_OpeningFcn(hObject, eventdata, handles, varargin)% This function has no output args, see OutputFcn.% hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% varargin command line arguments to newGUI (see VARARGIN)% Choose default command line output for newGUIhandles.output = hObject;% Update handles structureguidata(hObject, handles);% UIWAIT makes newGUI wait for user response (see UIRESUME)% uiwait(handles.figure1);% --- Outputs from this function are returned to the command line.function varargout = newGUI_OutputFcn(hObject, eventdata, handles) % varargout cell array for returning output args (see VARARGOUT);% hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Get default command line output from handles structurevarargout{1} = handles.output;function edit1_Callback(hObject, eventdata, handles)% hObject handle to edit1 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit1 as text% str2double(get(hObject,'String')) returns contents of edit1 as a double% --- Executes during object creation, after setting all properties.function edit1_CreateFcn(hObject, eventdata, handles)% hObject handle to edit1 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');endfunction edit2_Callback(hObject, eventdata, handles)% hObject handle to edit2 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit2 as text% str2double(get(hObject,'String')) returns contents of edit2 as a double% --- Executes during object creation, after setting all properties.function edit2_CreateFcn(hObject, eventdata, handles)% hObject handle to edit2 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');endfunction edit3_Callback(hObject, eventdata, handles)% hObject handle to edit3 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit3 as text% str2double(get(hObject,'String')) returns contents of edit3 as a double% --- Executes during object creation, after setting all properties.function edit3_CreateFcn(hObject, eventdata, handles)% hObject handle to edit3 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');end% --- Executes on button press in pushbutton1.function pushbutton1_Callback(hObject, eventdata, handles)global G;global X_min_path;global Y_min_path;global Min_path_value;global Mean_path_value;global colorbar1;NP=get(handles.edit4,'String');% 种群数量max_gen=get(handles.edit3,'String');a=get(handles.edit1,'String');b=get(handles.edit2,'String');NP=str2double(NP);a=str2double(a);b=str2double(b);max_gen=str2double(max_gen);% disp([NP,a,b])% disp(G)p_start = 0; % 起始序号p_end = size(G,1)*size(G,2)-1; % 终止序号%NP = 200;% 种群数量%max_gen = 50; % 最大进化代数pc = 0.8;% 交叉概率pm = 0.2;% 变异概率%init_path = [];z = 1; new_pop1 = {}; % 元包类型路径[y, x] = size(G);% 起点所在列(从左到右编号1.2.3...)xs = mod(p_start, x) + 1; % 起点所在行(从上到下编号行1.2.3...)ys = fix(p_start / x) + 1;% 终点所在列、行xe = mod(p_end, x) + 1;ye = fix(p_end / x) + 1;% 种群初始化step1,必经节点,从起始点所在行开始往上,在每行中挑选一个自由栅格,构成必经节点pass_num = ye - ys + 1;% disp(pass_num)% disp(NP);pop = zeros(NP, pass_num);for i = 1 : NPpop(i, 1) = p_start;j = 1;% 除去起点和终点for yk = ys+1 : ye-1j = j + 1;% 每一行的可行点can = []; for xk = 1 : x% 栅格序号no = (xk - 1) + (yk - 1) * x;if G(yk, xk) == 0% 把点加入can矩阵中can = [can no];endendcan_num = length(can);% 产生随机整数index = randi(can_num);% 为每一行加一个可行点pop(i, j) = can(index);end

三、运行结果

四、matlab版本及参考文献

1 matlab版本

a

2 参考文献

《智能优化算法及其MATLAB实例(第2版)》包子阳 余继周 杨杉著 电子工业出版社

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