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An Improved Adaptive Genetic Algorithm for Mobile Robot Path Planning Analogous to the Ordered Clustered TSP

Jiang, Junjie; Yao, Xifan; Yang, Erfu; Mehnen, Jorn; Yu, Hongnian

Authors

Junjie Jiang

Xifan Yao

Erfu Yang

Jorn Mehnen



Abstract

The material transportation planning with a mobile robot can be regarded as the ordered clustered traveling salesman problem. To solve such problems with different priorities at stations, an improved adaptive genetic simulated annealing algorithm is proposed. Firstly, the priority matrix is defined according to station priorities. Based on standard genetic algorithm, the generating strategy of the initial population is improved to prevent the emergence of non-feasible solutions, and an improved adaptive operator is introduced to improve the population ability for escaping local optimal solutions and avoid premature phenomena. Moreover, to speed up the convergence of the proposed algorithm, the simulated annealing strategy is utilized in mutation operations. The experimental results indicate that the proposed algorithm has the characteristics of strong ability to avoid local optima and the faster convergence speed.

Presentation Conference Type Conference Paper (Published)
Conference Name 2020 IEEE Congress on Evolutionary Computation (CEC)
Start Date Jul 19, 2020
End Date Jul 24, 2020
Online Publication Date Sep 3, 2020
Publication Date 2020
Deposit Date Nov 25, 2021
Publisher Institute of Electrical and Electronics Engineers
Book Title 2020 IEEE Congress on Evolutionary Computation (CEC)
DOI https://doi.org/10.1109/cec48606.2020.9185672
Keywords clustered traveling salesman problem, genetic algorithm, simulated annealing, path planning, mobile robot
Public URL http://researchrepository.napier.ac.uk/Output/2824147