理性遗传算法及其在运动规划中的应用

为提高理性遗传算法遗传信息的完备性、算法全局收敛性以及算法的整体结构,给出了一个更一般化的理性算子和算法结构,证明了算法的全局收敛性.理论分析和在运动规划问题中的应用结果验证了理性遗传算法的有效性.

By using the feedback of genetic informatione, a rational genetic algorithm (RGA) is proposed to overcome the drawbacks of conventional genetic algorithms such as slow convergence. The genetic information (GI) is extended in order to improve its completeness, and the rational genetic operators are rebuilt with more generality based on the extended GI. A more general specification for the whole RGA is given and the global convergence of the RGA is shown. Theoretical analysis and practical application to motion planning are given to illustrate the effectiveness of RGA.