Evolutionary Planner/Navigator: Operator Performance and Self-Tuning - Evolutionary Computation, 1996., Proceedings of IEEE International Conference on

B a s e d o n e v o l u t i o n a r y c o m p u t a t i o n c o n c e p t s , t h e E v o l u t i o n a r y P l a n n e r / N a v i g a t o r (EP/N) [d, 51 repres e n t s a new a p p r o a c h t o p a t h p l a n n i n g a n d n a v i g a t i o n . S i n c e i t s f i r s t v e r s i o n , t h e d e v e l o p m e n t o f t h e EP/N s y s t e m h a s been a n e v e r h a n g “evolu tron” p r o c e s s i t self: m u c h netv d e v e l o p m e n t a n d f u r t h e r r e s e a r c h has been m u d e [K, 71 t o f u l f i l l t h e EP/N p r o m i s e o f being able t o (1) a c c o m m o d a t e d i j f e r e n t o p t i m i z a t i o n cri ter i a , (2) achzeve both n e a r o p t i m a l i t y of p a t h s a n d h i g h p l a n n i n g e f i c i e n c y , (3) be f l e x i b l e t o c h a n g e s , a n d (4) be r o b u s t t o u n c e r t a i n t i e s . A more i m p o r t a n t p r o m i s e of t h e EP/N is its a b i l i t y f o r p e y f o r m a n c e s e l f t u n i n g t o a d a p t t o diflerent t a s k e n v i r o n m e n t s , m o s t l y t h r o u g h t h e a d a p t i v e n e s s o f i t s g e n e t i c operatzons . This p a p e r i n t r o d u c e s a m e t h o d o l o g y t o m e a s v r e t h e o v e r a l l p e r f o r m a n c e of t h e EP/N o p e r a t o r s a n d d e m o n s t r a t e s how svch a m e a s u r e , called ‘ p e r f o r m a n c e i n d e x ’ f o r e a c h o p e r a t o r , c a n be u s e d t o m a k e t h e EP/N a d a p t i v e .