A Fusion Algorithm for Mobile Robot Path Planning Based on Quantum Chromosome Mutation

In order to solve the problem of local minima in mobile robot path planning,a fusion algorithm of artificial potential field and grid based on quantum chromosome mutation is proposed.Firstly,the repulsion field of artificial potential function is improved.Then,the fusion method of artificial potential field and grid is used to plan path for mobile robot and produce initializing population.Finally,quantum bit is used to code chromosome,and quantum chromosome mutation is used to update population individual for getting the best path.Simulation result shows that the proposed method can be used to avoid the obstacles effectively,get the optimal path for mobile robot stably and increase population quality and convergence rate.It is fit for the solution of complex optimization problems and achieves the desired results.