走迷宫机器人程序之2--遗传算法

最新推荐文章于 2023-08-09 03:37:10 发布

xianyuxiaoqiang

最新推荐文章于 2023-08-09 03:37:10 发布

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分类专栏： C语言遗传算法人工智能

本文链接：https://blog.csdn.net/xianyuxiaoqiang/article/details/50252867

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本文探讨了如何使用遗传算法解决走迷宫问题。通过介绍染色体和种群的数据结构（chromosome.h 和 population.h），以及实现细节（population.c），阐述了遗传算法在机器人路径规划中的有效性和智能性。

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chromosome.h

#define MAX_BITS_PER_GENE 8


typedef struct chromo_tag
{
	unsigned int bits_per_gene;
	unsigned int gene_num;
	char * data_p;
} chromo_t;


int init_chromo( chromo_t *chromo_p, unsigned int bits_per_gene, unsigned int gene_num );
int free_chromo( chromo_t *chromo_p );
char get_gene( chromo_t *chromo_p, unsigned int gene_index );
int set_gene( chromo_t *chromo_p, unsigned int gene_index, char new_gene );

population.h

#include "chromosome.h"


#define BITS_PER_GENE 2   // todo1: muti gene. todo2: input from config file
#define GEN_NUM      30   // todo1: muti gene. todo2: input from config file

#define MOVE_UP    (char)0x00
#define MOVE_DOWN  (char)0x40
#define MOVE_LEFT  (char)0x80
#define MOVE_RIGHT (char)0xC0

#define MAX_GENERATION 1000


#define MutationRate 0.001
#define CrossoverRate  0.7


typedef struct individual_tag
{
	chromo_t chromo;
	float score;   // the score of the individual(0~100)
}individual_t;


typedef struct population_tag
{
	individual_t *individual_array;
	unsigned int individual_num;
}population_t;




typedef struct rouletteWheelPiece_tag
{
	float low;
	float high;
}piece_t;
typedef struct rouletteWheel_tag
{
	unsigned int num;
	piece_t *data_p;
}rouletteWheel_t;


int init_population( population_t *popu_p, unsigned int individual_num);
int free_population( population_t *popu_p );


int crossover( population_t *parents_p, population_t *children_p );
int updateScore( individual_t *indi );
int mutation( population_t *parents_p );

chromosome.c

#include "common.h"
#include "chromosome.h"


int init_chromo( chromo_t *chromo_p, unsigned int bits_per_gene, unsigned int gene_num )
{
	unsigned int size = ( bits_per_gene * gene_num + 8 ) / 8;
	chromo_p->bits_per_gene = 0;
	chromo_p->data_p = NULL;
	chromo_p->gene_num = 0;
	if( MAX_BITS_PER_GENE < bits_per_gene )
	{
		error_output( "Too long bits per gene." );
		return 1;
	}
	chromo_p->data_p = malloc( size );
	if( chromo_p->data_p == NULL )
	{
		error_output( "init_chomo: malloc fail." );
		return 1;
	}
	memset(chromo_p->data_p, 0, size);
	chromo_p->bits_per_gene = bits_per_gene;
	chromo_p->gene_num = gene_num;
	return 0;
}


int free_ch