基于改进遗传算法的路径规划MATLAB实现【精品毕业设计】(完整版)

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－1 s=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:s

pop(i,1:t-1)=randperm(t-1); end

for k=1:1:2000 %进化代次数k if mod(k,10)==1 k end

pop=lujingdis(pop); c=15;%选择淘汰个数 pop=lujingselect(pop,c); p=rand; if p>=pc

pop=lujingcross(pop); end if p>=pm

pop=lujingmutate(pop); End end pop

min(pop(:,t)) J=pop(:,t); fi=1./J;

[Oderfi,Indexfi]=sort(fi); %安排fi从小到大

BestS=pop(Indexfi(s),:); %使BestS=E(m),m即是属于max(fi)的Indexfi I=BestS;

x=[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]; %过程点坐标

% x=[1 2 3 4 6 9 11 10 8 9 6 4]; 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(I(i)); y1(i)=y(I(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 1 1 1 0 1 1 1 1 1 1 1 0 1 1 1 1 1 1 0 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 0 0 0 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 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 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 1 1 1 1 1 1 1 1 1 1 1 0 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 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 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 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 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 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 0 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 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 0 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 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 0 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 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 0 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 0 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 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 0

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 0 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 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 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 1 1 1 1 1 1 1 1 1 1 1 0 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 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 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 1 1 1

0 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1];1*31栅格 %a = [1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 1 1 1 0 0 1 0 1 0 0 1 1 1 1 1 0 0 1 1 1 1 0 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1

0 1 1 1 1 1 0 0 1 1];*11栅格 b = a;

b(end+1,end+1) = 0;

colormap([0 0 0;1 1 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：lujingdis.m function [pop]=qiujuli(pop) [s,t]=size(pop); for i=1:1:s dd=0;

for j=1:1:t-2

dd=dd+lujingcalculate(pop(i,j),pop(i,j+1)); end

pop(i,t)=dd; End

距离计算程序：lujingcalculate.m function [d]=juli(m,n)

x=[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]; %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))^2+(y(m)-y(n))^2)；

选择算子程序：lujingselect.m function [pop]=select(pop,k) [s,t]=size(pop); m11=(pop(:,t)); m11=m11'; mmax=zeros(1,k); mmin=zeros(1,k); num=1; while num

[a,mmax(num)]=max(m11); m11(mmax(num))=a; num=num+1; end num=1; while num

[b,mmin(num)]=min(m11); m11(mmin(num))=a; num=num+1; end for i=1:k

pop(mmax(i),:)=pop(mmin(i),:); End

交叉算子程序：lujingcross.m

function [pop]=cross(pop) [s,t]=size(pop); pop1=pop; for i=1:2:s

m=randperm(t-3)+1; crosspoint(1)=min(m(1),m(2)); crosspoint(2)=max(m(1),m(2)); for j=1:crosspoint(1)

while find(pop(i,crosspoint(1)+1:crosspoint(2))==pop(i,j)) zhi=find(pop(i,crosspoint(1)+1:crosspoint(2))==pop(i,j)); y=pop(i+1,crosspoint(1)+zhi); pop(i,j)=y; end end

for j=crosspoint(2)+1:t-1

while find(pop(i,crosspoint(1)+1:crosspoint(2))==pop(i,j)) zhi=find(pop(i,crosspoint(1)+1:crosspoint(2))==pop(i,j)); y=pop(i+1,crosspoint(1)+zhi); pop(i,j)=y; end end end

[pop]=lujingdis(pop); for i=1:s

if pop1(i,t)

变异算子程序：lujingmutate.m function [pop] = mutate(pop) [s,t]=size(pop); pop1=pop; for i=1:2:s

m=randperm(t-3)+1;