基于双层模糊控制与改进遗传算法的移动机器人路径规划算法

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关键词：改进遗传算法；路径规划；双层模糊控制系统;移动机器人

中图分类号：TP242.6 文献标志码：A 文章编号：1001-3695（2026）01-022-0183-08

doi：10.19734/j.issn.1001-3695.2026.06.0151

Path planning algorithm for mobile robots based on dual-layer fuzzy control and improved genetic algorithm

Tian Min†，Wu Xiaofeng （SchoolofManagement，XihuaUniversity，Chengdu61oo39，China）

Abstract：Toenhancethepath safetyand planning eficiencyof mobilerobots performing multipletasks incomplexroad environments，this paperproposedamethodthatintegratedadual-layerfuzycontrolsystemwithanimproved geneticalgorithmto address thechalenges ofcomplexroadenvironmentsand diversifiedtask safetyrequirements in mobilerobotpath planning.It firstlydesignedadual-layerfuzzycontrol systembasedonexpertknowledge，thefirstlayertransformed complexroadconditionsandobstaclesintoroadsafetylevels，whilethesecondlayerincorporatedtasksafetylevelstogenerateadaptivefiness weightsforthegeneticalgorithm.Byintroducingroadsafetyfactorsintothefinessfunctionmodel，istrengthenedthesafetyof the planedpaths.Atthealgorithmiclevel，itoptimizedteselectioncrossover，andmutationoperationsusing Beroulichaoticmapping，aGaussanoperator，andaSymmetrical Sigmoidoperator，therebyimprovingglobal searchabilityandoptimizationeffciency.Experimental results showthat，compared toother algorithms，this method reduces path length byupto 5.9% and the number of turns by up to 85.7% .It also demonstrates strong generalizability and robustness in various comparative scenarios，，effectively addresses the interplay between complex road environments and task safety requirements.

Key words：improved genetic algorithm；path planning；two-tier fuzzy control system；mobile robot

0 引言

随着智能制造和无人系统的快速发展，移动机器人已广泛应用于仓储物流、工业生产、军事侦查等领域，其路径规划能力成为保障任务执行效率和系统安全性的关键。（剩余16597字）