Genetic Algorithms Path Planning

This chapter is devoted to genetic algorithms (GAs) for mobile robot planning. Section 4.1 describes the complete algorithm for path planning and functioning of the GA and graphs as its part. Section 4.2 gives short overview of graph idea and how it is applied to represent the optimized path. Section 4.3 describes the GAs applied to path planning. Section 4.3.1 describes the general idea of GAs and basic genetic operators. Section 4.3.2 studies three modifications of the GA—classical, ( μ , λ ), and ( μ + λ ), and chooses the best one for the task of path planning. Section 4.4 the results of imitation modeling on the test bench common for all path planning methods in this book.