基于改进遗传算法的路径规划MATLAB实现

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]; %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(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];%31*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*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)

pop(i,:)=pop1(i,:);

end

End

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;

mutatepoint(1)=min(m(1),m(2));

mutatepoint(2)=max(m(1),m(2));

mutate =round((mutatepoint(2)-mutatepoint(1))/2-0.5);

for j=1:mutate

zhong=pop(i,mutatepoint(1)+j);

pop(i,mutatepoint(1)+j)=pop(i,mutatepoint(2)-j);

pop(i,mutatepoint(2)-j)=zhong;

end

end

[pop]=lujingdis(pop);

for i=1:s

if pop1(i,t)

pop(i,:)=pop1(i,:);

end

end