Abstract:

We use genetic algorithm to plan robots path in the polar coordinate.A new compositive fitness function based on multiple attribute decision theory is proposed.Using genetic algorithm with this fitness function can plan the optimal path.The path satisfies the constrained attributes of path,time,and energy dissipation optimal.Based on a new introduced perfect fitness function,a new mutation operator is proposed.The advantage of the mutation operator is that it can guarantee the outstanding individual with smaller variable rate,inferior individual with larger variable rate.The simulation results demonstrate the effectiveness and realtime of the proposed algorithm.

Key words: robot, genetic algorithm, compositive fitness function, decision theory;multiple attribute, mutation operator