Abstract: The improved partheno-genetic algorithm is proposed based on the path planning in the Chinese Robot Competition “Robot Tourism in China”,which is aimed at the problem of low computational efficiency of constrained combinational optimization.Three genetic operators of partheno-genetic algorithm-commutating operator,operator in advance,and repair operator,were established without changing the calculation steps of traditional partheno-genetic algorithm;as a result,the search efficiency of partheno-genetic algorithm is largely improved.Simulation experiment shows that compared with genetic algorithm，the proposed improved partheno-genetic algorithm has greatly increased computation efficiency and path planning ability.

Key words: partheno-genetic algorithm, robot, path planning