(完整版)基于改进遗传算法的路径规划MATLAB实现

1、基于遗传算法的路径规划MATLAB实现主程序：clearall;closeall;t=23;%过程点个数-t1s=500;%种群规模pc=0.90;%交叉概率pm=0.20;%变异概率pop=zeros(s,t);fori=1:spop(i,1:t-1)=randperm(t-1);endfork=1:1:2000%进化代次数kifmod(k,10)=1kendpop=lujingdis(pop);c=15;%选择淘汰个数pop=lujingselect(pop,c);p=rand;ifp>=pcpop=lujingcross(pop);endifp>=pmpop=lujingmu

2、tate(pop);Endendpopmin(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IndexfiI=BestS;x=23610141722202325302825212916181591165;y=526142927242822263030171315413316227;%过程点坐标%x=12346911108964;%12个过程点的坐标%y=12348101195212;fori=1:1:t-1x1(i)=x(

3、I(i);y1(i)=y(I(i);endx(t)=x(I(1);y(t)=y(I(1);a=1111111111111111111111111111111101111111011111101111011111111111110111111111111111011100011111111111111111111111111111111111111111111011111111111111111111111011111111111111111111111111111111111111110111111111111111111111111111111111111111111111111111011

4、111111111111111111111111111111111111111111111110111111111111111111111111111111111111111111111111111101111111111110111111101111111111111111111111111111111111111111111111111111111011111111111111111111111111111111111111110111111111101111111111111111111111111111111111111111111011111111111101111111111111

5、111111111111111101111111111110111111111111111101111111111111111111111111111101111111111111111111111110111111111110111111111011111111111111111111111111111111111111111111011111111111111111111111111111111111111110111111111111111111111111111111111111110111111111111111011111111111111111110111111111111111

6、11111111111111111011111111011111101111111111111;%31*31栅格%a=1111111111111001110010100111110011110110111111111111111111111001101111111111111011111111110111110011;%11*11栅格b=a;b(end+1,end+1)=0;colormap(000;111),pcolor(b)axisimagexy;%绘制栅格图holdon;figure(1);plot(x,y,'-or');适应度函数程序：lujingdis.mfuncti

7、onpop=qiujuli(pop)s,t=size(pop);fori=1:1:sdd=0;forj=1:1:t-2dd=dd+lujingcalculate(pop(i,j),pop(i,j+1);endpop(i,t)=dd;End距离计算程序：lujingcalculatemfunctiond=juli(m,n)x=23610141722202325302825212916181591165;y=526142927242822263030171315413316227;%x=12346911108964;%y=12348101195212;d=sqrt(x(m)-x(n)人2+(y(m

8、)-y(n)人2)；选择算子程序：lujingselectmfunctionpop=select(pop,k)s,t=size(pop);m11=(pop(:,t);m11=m11'mmax=zeros(1,k);mmin=zeros(1,k);num=1;whilenum<k+1a,mmax(num)=max(m11);m11(mmax(num)=a;num=num+1;endnum=1;whilenum<k+1b,mmin(num)=min(m11);m11(mmin(num)=a;num=num+1;endfori=1:kpop(mmax(i),:)=pop(mmin

9、(i),:);End交叉算子程序：lujingcrossmfunctionpop=cross(pop)s,t=size(pop);pop1=pop;fori=1:2:sm=randperm(t-3)+1;crosspoint(1)=min(m(1),m(2);crosspoint(2)=max(m(1),m(2);forj=1:crosspoint(1)whilefind(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,cros

10、spoint(1)+zhi);pop(i,j)=y;endendforj=crosspoint(2)+1:t-1whilefind(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;endendendpop=lujingdis(pop);fori=1:sifpop1(i,t)<pop(i,t)pop(i,:)=pop1(i,:);endEnd变异算子程序：lujingmutate.mfunctionpop=mutate(pop)s,t=size(pop);pop1=pop;fori=1:2:sm=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);forj=1:mutatezhong=pop(i,mutatepo