【路径规划】基于matlab GUI改进的遗传算法机器人栅格地图避障路径规划【含Matlab 703期】

一、遗传算法简介

1 引言

2 遗传算法理论
2.1 遗传算法的生物学基础

2.2 遗传算法的理论基础

2.3 遗传算法的基本概念

2.4 标准的遗传算法

2.5 遗传算法的特点

2.6 遗传算法的改进方向

3 遗传算法流程

4 关键参数说明

二、部分源代码

function varargout = newGUI(varargin)
% NEWGUI MATLAB code for newGUI.fig
%      NEWGUI, by itself, creates a new NEWGUI or raises the existing
%      singleton*.
%
%      H = NEWGUI returns the handle to a new NEWGUI or the handle to
%      the existing singleton*.
%
%      NEWGUI('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in NEWGUI.M with the given input arguments.
%
%      NEWGUI('Property','Value',...) creates a new NEWGUI or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before newGUI_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to newGUI_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES% Edit the above text to modify the response to help newGUI% Last Modified by GUIDE v2.5 02-Feb-2020 22:22:09% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...'gui_Singleton',  gui_Singleton, ...'gui_OpeningFcn', @newGUI_OpeningFcn, ...'gui_OutputFcn',  @newGUI_OutputFcn, ...'gui_LayoutFcn',  [] , ...'gui_Callback',   []);
if nargin && ischar(varargin{1})gui_State.gui_Callback = str2func(varargin{1});
endif nargout[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
elsegui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT% --- Executes just before newGUI is made visible.
function newGUI_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to newGUI (see VARARGIN)% Choose default command line output for newGUI
handles.output = hObject;% Update handles structure
guidata(hObject, handles);% UIWAIT makes newGUI wait for user response (see UIRESUME)
% uiwait(handles.figure1);% --- Outputs from this function are returned to the command line.
function varargout = newGUI_OutputFcn(hObject, eventdata, handles)
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)% Get default command line output from handles structure
varargout{1} = handles.output;function edit1_Callback(hObject, eventdata, handles)
% hObject    handle to edit1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit1 as text
%        str2double(get(hObject,'String')) returns contents of edit1 as a double% --- Executes during object creation, after setting all properties.
function edit1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');
endfunction edit2_Callback(hObject, eventdata, handles)
% hObject    handle to edit2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit2 as text
%        str2double(get(hObject,'String')) returns contents of edit2 as a double% --- Executes during object creation, after setting all properties.
function edit2_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');
endfunction edit3_Callback(hObject, eventdata, handles)
% hObject    handle to edit3 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit3 as text
%        str2double(get(hObject,'String')) returns contents of edit3 as a double% --- Executes during object creation, after setting all properties.
function edit3_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit3 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');
end% --- Executes on button press in pushbutton1.
function pushbutton1_Callback(hObject, eventdata, handles)global G;
global X_min_path;
global Y_min_path;
global Min_path_value;
global Mean_path_value;
global colorbar1;NP=get(handles.edit4,'String');% 种群数量
max_gen=get(handles.edit3,'String');
a=get(handles.edit1,'String');
b=get(handles.edit2,'String');
NP=str2double(NP);
a=str2double(a);
b=str2double(b);
max_gen=str2double(max_gen);
% disp([NP,a,b])
% disp(G)p_start = 0;    % 起始序号
p_end = size(G,1)*size(G,2)-1;    % 终止序号%NP = 200;      % 种群数量
%max_gen = 50;  % 最大进化代数
pc = 0.8;      % 交叉概率
pm = 0.2;      % 变异概率%init_path = [];
z = 1;
new_pop1 = {}; % 元包类型路径
[y, x] = size(G);
% 起点所在列（从左到右编号1.2.3...）
xs = mod(p_start, x) + 1;
% 起点所在行（从上到下编号行1.2.3...）
ys = fix(p_start / x) + 1;
% 终点所在列、行
xe = mod(p_end, x) + 1;
ye = fix(p_end / x) + 1;% 种群初始化step1，必经节点,从起始点所在行开始往上，在每行中挑选一个自由栅格，构成必经节点
pass_num = ye - ys + 1;
% disp(pass_num)
% disp(NP);
pop = zeros(NP, pass_num);
for i = 1 : NPpop(i, 1) = p_start;j = 1;% 除去起点和终点for yk = ys+1 : ye-1j = j + 1;% 每一行的可行点can = []; for xk = 1 : x% 栅格序号no = (xk - 1) + (yk - 1) * x;if G(yk, xk) == 0% 把点加入can矩阵中can = [can no];endendcan_num = length(can);% 产生随机整数index = randi(can_num);% 为每一行加一个可行点pop(i, j) = can(index);end

三、运行结果

四、matlab版本及参考文献

1 matlab版本
2014a

2 参考文献
《智能优化算法及其MATLAB实例（第2版）》包子阳余继周杨杉著电子工业出版社

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