基于改进遗传算法的路径规划MATLAB实现基于遗传算法的路径规划MATLAB实现主程序：clear all;close all;t=23; %过程点个数=t－1s=500; %种群规模pc=0.90; %交叉概率pm=0.20; %变异概率pop=zeros(s,t);for i=1:spop(i,1:t-1)=randperm(t-1);endfor k=1:1:2000 %进化代次数kif mod(k,10)==1kendpop=lujingdis(pop);c=15;%选择淘汰个数pop=lujingselect(pop,c);p=rand;if p>=pcpop=lujingcross(pop);endif p>=pmpop=lujingmutate(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Indexfi I=BestS;x=[2 3 6 10 14 17 22 20 23 25 30 28 25 21 29 16 18 15 9 11 6 5 ];y=[5 26 14 29 27 24 28 22 26 30 30 17 13 15 4 13 3 1 6 2 2 7];%过程点坐标% x=[1 2 3 4 6 9 11 10 8 9 6 4]; %12个过程点的坐标% y=[1 2 3 4 8 10 11 9 5 2 1 2];for i=1:1:t-1x1(i)=x(I(i));y1(i)=y(I(i));endx(t)=x(I(1));y(t)=y(I(1));a = [1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 0 1 1 1 1 1 1 1 0 1 1 1 1 1 1 0 1 1 1 1 0 1 1 1 1 1 1 11 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 0 0 0 11 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 10 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 11 1 1 1 1 1 0 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 11 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 01 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 01 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 01 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 01 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 11 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 11 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 11 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 10 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1];%31*31栅格%a = [1 1 1 1 1 1 1 1 1 11 1 1 0 0 1 1 1 0 01 0 1 0 0 1 1 1 1 10 0 1 1 1 1 0 1 1 01 1 1 1 1 1 1 1 1 11 1 1 1 1 1 1 1 1 11 0 0 1 1 0 1 1 1 11 1 1 1 1 1 1 1 1 01 1 1 1 1 1 1 1 1 10 1 1 1 1 1 0 0 1 1];%11*11栅格b = a;b(end+1,end+1) = 0;colormap([0 0 0;1 1 1]),pcolor(b)axis image xy;%绘制栅格图hold on;figure(1);plot(x,y,'-or');适应度函数程序：lujingdis.mfunction [pop]=qiujuli(pop)[s,t]=size(pop);for i=1:1:sdd=0;for j=1:1:t-2dd=dd+lujingcalculate(pop(i,j),pop(i,j+1));endpop(i,t)=dd;End距离计算程序：lujingcalculate.mfunction [d]=juli(m,n)x=[2 3 6 10 14 17 22 20 23 25 30 28 25 21 29 16 18 15 9 11 6 5 ]; y=[5 26 14 29 27 24 28 22 26 30 30 17 13 15 4 13 3 1 6 2 2 7]; %x=[1 2 3 4 6 9 11 10 8 9 6 4];% y=[1 2 3 4 8 10 11 9 5 2 1 2];d=sqrt((x(m)-x(n))^2+(y(m)-y(n))^2)；选择算子程序：lujingselect.mfunction [pop]=select(pop,k)[s,t]=size(pop);m11=(pop(:,t));m11=m11';mmax=zeros(1,k);mmin=zeros(1,k);num=1;while num<k+1[a,mmax(num)]=max(m11);m11(mmax(num))=a;num=num+1;endnum=1;while num<k+1[b,mmin(num)]=min(m11);m11(mmin(num))=a;num=num+1;endfor i=1:kpop(mmax(i),:)=pop(mmin(i),:);End交叉算子程序：lujingcross.mfunction [pop]=cross(pop)[s,t]=size(pop);pop1=pop;for i=1:2:sm=randperm(t-3)+1;crosspoint(1)=min(m(1),m(2));crosspoint(2)=max(m(1),m(2));for j=1:crosspoint(1)while find(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;endendfor j=crosspoint(2)+1:t-1while find(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;endendend[pop]=lujingdis(pop);for i=1:sif pop1(i,t)<pop(i,t)pop(i,:)=pop1(i,:);endEnd变异算子程序：lujingmutate.mfunction [pop] = mutate(pop)[s,t]=size(pop);pop1=pop;for i=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);for j=1:mutatezhong=pop(i,mutatepoint(1)+j);pop(i,mutatepoint(1)+j)=pop(i,mutatepoint(2)-j);pop(i,mutatepoint(2)-j)=zhong;endend[pop]=lujingdis(pop);for i=1:sif pop1(i,t)<pop(i,t)pop(i,:)=pop1(i,:);endend。