【路径规划】基于排序遗传算法求解机器人轨迹优化问题，最佳距离附Matlab代码

% 机器人轨迹优化问题（排序遗传算法）
% 假设你已经有了机器人的起点、终点和避障地图数据

% 定义遗传算法参数
population_size = your_population_size; % 种群数量
chromosome_length = your_chromosome_length; % 染色体长度（轨迹点数量）
max_generations = your_maximum_generations; % 最大迭代代数
mutation_rate = your_mutation_rate; % 变异率
crossover_rate = your_crossover_rate; % 交叉率

% 定义机器人的起点和终点坐标
start_point = your_start_point; % 起点坐标，格式为[1, 2]
goal_point = your_goal_point; % 终点坐标，格式为[1, 2]

% 定义避障地图数据
obstacle_map = your_obstacle_map_data; % 避障地图数据，0表示可行区域，1表示障碍物区域

% 初始化种群
population = initialize_population(population_size, chromosome_length);

% 进化过程
for generation = 1:max_generations
% 评估种群中每个个体的适应度
fitness_values = evaluate_fitness(population, start_point, goal_point, obstacle_map);

% 选择操作
selected_indices = selection(fitness_values);
selected_population = population(selected_indices, :);

% 交叉操作
offspring_population = crossover(selected_population, crossover_rate);

% 变异操作
mutated_population = mutation(offspring_population, mutation_rate);

% 更新种群
population = mutated_population;

end

% 计算最佳距离和最佳轨迹
best_fitness = inf;
best_trajectory = [];

for i = 1:population_size
trajectory = population(i, 😃;
fitness = evaluate_single_fitness(trajectory, start_point, goal_point, obstacle_map);

if fitness < best_fitness
    best_fitness = fitness;
    best_trajectory = trajectory;
end

end

% 输出最佳距离和最佳轨迹
disp(‘最佳距离:’);
disp(best_fitness);
disp(‘最佳轨迹:’);
disp(best_trajectory);

% 初始化种群
function population = initialize_population(population_size, chromosome_length)
population = zeros(population_size, chromosome_length);

for i = 1:population_size
    population(i, :) = randperm(chromosome_length);
end

end

% 评估种群中每个个体的适应度
function fitness_values = evaluate_fitness(population, start_point, goal_point, obstacle_map)
population_size = size(population, 1);
fitness_values = zeros(population_size, 1);

for i = 1:population_size
    trajectory = population(i, :);
    fitness_values(i) = evaluate_single_fitness(trajectory, start_point, goal_point, obstacle_map);
end

end

% 评估单个轨迹的适应度
function fitness = evaluate_single_fitness(trajectory, start_point, goal_point, obstacle_map)
fitness = 0;
num_points = length(trajectory);
current_point = start_point;

for i = 1:num_points
    next_point = trajectory(i);
    distance = norm(next_point - current_point);
    
    % 加入避障惩罚项
    if obstacle_map(round(next_point(1)), round(next_point(2))) == 1
        fitness = fitness + inf;  % 遇到障碍物的路径将被惩罚
    end
    
    fitness = fitness + distance;
    current_point = next_point;
end

% 加入终点距离的适应度评估
fitness = fitness + norm(goal_point - current_point);

end

% 选择操作（锦标赛选择）
function selected_indices = selection(fitness_values)
tournament_size = 2; % 锦标赛规模
population_size = length(fitness_values);
selected_indices = zeros(population_size, 1);

for i = 1:population_size
    competitors = randperm(population_size, tournament_size);
    [~, winner_index] = min(fitness_values(competitors));
    selected_indices(i) = competitors(winner_index);
end

end

% 交叉操作（单点交叉）
function offspring_population = crossover(parent_population, crossover_rate)
population_size = size(parent_population, 1);
offspring_population = parent_population;

for i = 1:2:population_size-1
    if rand < crossover_rate
        % 随机选择交叉点
        crossover_point = randi(size(parent_population, 2));
        
        % 交叉操作
        offspring_population(i, crossover_point+1:end) = parent_population(i+1, crossover_point+1:end);
        offspring_population(i+1, crossover_point+1:end) = parent_population(i, crossover_point+1:end);
    end
end

end

% 变异操作（位翻转变异）
function mutated_population = mutation(offspring_population, mutation_rate)
population_size = size(offspring_population, 1);
mutated_population = offspring_population;

for i = 1:population_size
    if rand < mutation_rate
        % 随机选择变异点
        mutation_point1 = randi(size(offspring_population, 2));
        mutation_point2 = randi(size(offspring_population, 2));
        
        % 变异操作
        mutated_population(i, [mutation_point1, mutation_point2]) = offspring_population(i, [mutation_point2, mutation_point1]);
    end
end

end