Multi - Objective Evolutionary Path Planning
نویسندگان
چکیده
| This paper introduces a new tournament selection algorithm that can be used for evolutionary path planning systems. The fuzzy tournament selection algorithm (FTSA) described in this paper selects candidate paths (CPs) to be parents and undergo reproduction based on: (1) the euclidean distance of a path from the origin to its destination, (2) the sum of the changes in the slope of a path, and (3) the average change in the slope of a path. In this paper, we provide a detailed description of the fuzzy inference system used in the FTSA as well as some examples of its usefulness. We then use 12 instances of our FTSA to rank a population of CPs based on the above criteria. We also show how the FTSA can obviate the need for the development of an explicit multi-objective evaluation function and use the FTSA with a evolutionary path planning system called GEPOA.
منابع مشابه
A multi-objective evolutionary approach for integrated production-distribution planning problem in a supply chain network
Integrated production-distribution planning (PDP) is one of the most important approaches in supply chain networks. We consider a supply chain network (SCN) to consist of multi suppliers, plants, distribution centers (DCs), and retailers. A bi-objective mixed integer linear programming model for integrating production-distribution designed here aim to simultaneously minimize total net costs in ...
متن کاملTwo multi-criteria evolutionary algorithms for a multi-path evacuation problem
In an emergency situation (e.g., tsunami, chemical spill, fire) it may be necessary to displace people to safer locations. Evacuation plans must be prepared so that these movements are properly organized. Based on the ACO (ant colony optimization) meta-heuristic we design a computational model to optimize a multi-objective path-finding associated to an evacuation planning problem. The results a...
متن کاملOffline Smooth path planning for a mobile robot in dynamic environment using evolutionary multi-objective optimization
This paper studies the path planning problem for mobile robots to move smoothly and safely along a shorter curvature-constrained path in completely known dynamic environments. The cost of travel is defined by an obstacle-avoidance cost, which is designed as a weighted penetration depth to vertices of obstacles, and a length cost. The path is composed of a pre-specified number of cubic spiral se...
متن کاملMulti-objective Evolutionary Path Planning with Neutrality
One of the main challenges when developing mobile robots is path planning. Efficient and robust algorithms are needed to produce plans for the movements of the robot. Many classical path planning algorithms depend on geometrically simple environments to achieve good performance, otherwise the paths produced tend to be far from ideal especially when the paths are to be optimized for multiple obj...
متن کاملStudy of Evolutionary and Swarm Intelligent Techniques for Soccer Robot Path Planning
Finding an optimal path for a robot in a soccer field involves different parameters such as the positions of the robot, positions of the obstacles, etc. Due to simplicity and smoothness of Ferguson Spline, it has been employed for path planning between arbitrary points on the field in many research teams. In order to optimize the parameters of Ferguson Spline some evolutionary or intelligent al...
متن کامل