Global Path Planning for Full-Area Coverage Robotic Systems by Employing an Active Genetic Algorithm

2011 ◽  
Vol 328-330 ◽  
pp. 1881-1886
Author(s):  
Cen Zeng ◽  
Qiang Zhang ◽  
Xiao Peng Wei
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
High Performance ◽  
Search Space ◽  
Area Coverage ◽  
Robotic Systems ◽  
Genetic Operators ◽  
A Algorithm ◽  
Coverage Path Planning ◽  
Search Spaces

Genetic algorithm (GA), a kind of global and probabilistic optimization algorithms with high performance, have been paid broad attentions by researchers world wide and plentiful achievements have been made.This paper presents a algorithm to develop the path planning into a given search space using GA in the order of full-area coverage and the obstacle avoiding automatically. Specific genetic operators (such as selection, crossover, mutation) are introduced, and especially the handling of exceptional situations is described in detail. After that, an active genetic algorithm is introduced which allows to overcome the drawbacks of the earlier version of Full-area coverage path planning algorithms.The comparison between some of the well-known algorithms and genetic algorithm is demonstrated in this paper. our path-planning genetic algorithm yields the best performance on the flexibility and the coverage. This meets the needs of polygon obstacles. For full-area coverage path-planning, a genotype that is able to address the more complicated search spaces.

scholarly journals Constrained Novelty Search: A Study on Game Content Generation

2015 ◽  
Vol 23 (1) ◽  
pp. 101-129 ◽  
Author(s):  
Antonios Liapis ◽  
Georgios N. Yannakakis ◽  
Julian Togelius
Keyword(s):  
Genetic Algorithm ◽  
Search Space ◽  
Selection Method ◽  
Search Algorithms ◽  
Genetic Operators ◽  
Search Methods ◽  
Search Spaces ◽  
Novelty Search ◽  
Feasible Space ◽  
Content Generation

Novelty search is a recent algorithm geared toward exploring search spaces without regard to objectives. When the presence of constraints divides a search space into feasible space and infeasible space, interesting implications arise regarding how novelty search explores such spaces. This paper elaborates on the problem of constrained novelty search and proposes two novelty search algorithms which search within both the feasible and the infeasible space. Inspired by the FI-2pop genetic algorithm, both algorithms maintain and evolve two separate populations, one with feasible and one with infeasible individuals, while each population can use its own selection method. The proposed algorithms are applied to the problem of generating diverse but playable game levels, which is representative of the larger problem of procedural game content generation. Results show that the two-population constrained novelty search methods can create, under certain conditions, larger and more diverse sets of feasible game levels than current methods of novelty search, whether constrained or unconstrained. However, the best algorithm is contingent on the particularities of the search space and the genetic operators used. Additionally, the proposed enhancement of offspring boosting is shown to enhance performance in all cases of two-population novelty search.

Minimization of total trim loss occurring in pipe cutting in shipbuilding with genetic algorithm

2021 ◽  
pp. 147509022199169
Author(s):  
Abdullah Türk ◽  
Dursun Saral ◽  
Murat Özkök ◽  
Ercan Köse
Keyword(s):  
Genetic Algorithm ◽  
Genetic Algorithms ◽  
Search Space ◽  
Cutting Process ◽  
Genetic Operators ◽  
Critical Stage ◽  
Different Types ◽  
Trim Loss ◽  
Pipe Systems

Outfitting is a critical stage in the shipbuilding process. Within the outfitting, the construction of pipe systems is a phase that has a significant effect on time and cost. While cutting the pipes required for the pipe systems in shipyards, the cutting process is usually performed randomly. This can result in large amounts of trim losses. In this paper, we present an approach to minimize these losses. With the proposed method it is aimed to base the pipe cutting process on a specific systematic. To solve this problem, Genetic Algorithms (GA), which gives successful results in solving many problems in the literature, have been used. Different types of genetic operators have been used to investigate the search space of the problem well. The results obtained have proven the effectiveness of the proposed approach.

Collaborative Scheduling of Algorithms for Path Planning of Unmanned Systems

2021 ◽  
Vol 01 ◽  
Author(s):  
Ying Li ◽  
Chubing Guo ◽  
Jianshe Wu ◽  
Xin Zhang ◽  
Jian Gao ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Reinforcement Learning ◽  
Path Planning ◽  
Unmanned Systems ◽  
Ant Colony Optimization Algorithm ◽  
A Algorithm ◽  
Collaborative Scheduling ◽  
Simulation Results ◽  
Planning Problems ◽  
Effective Path

Background: Unmanned systems have been widely used in multiple fields. Many algorithms have been proposed to solve path planning problems. Each algorithm has its advantages and defects and cannot adapt to all kinds of requirements. An appropriate path planning method is needed for various applications. Objective: To select an appropriate algorithm fastly in a given application. This could be helpful for improving the efficiency of path planning for Unmanned systems. Methods: This paper proposes to represent and quantify the features of algorithms based on the physical indicators of results. At the same time, an algorithmic collaborative scheme is developed to search the appropriate algorithm according to the requirement of the application. As an illustration of the scheme, four algorithms, including the A-star (A*) algorithm, reinforcement learning, genetic algorithm, and ant colony optimization algorithm, are implemented in the representation of their features. Results: In different simulations, the algorithmic collaborative scheme can select an appropriate algorithm in a given application based on the representation of algorithms. And the algorithm could plan a feasible and effective path. Conclusion: An algorithmic collaborative scheme is proposed, which is based on the representation of algorithms and requirement of the application. The simulation results prove the feasibility of the scheme and the representation of algorithms.

THE DYNAMICS OF A CHANGING RANGE GENETIC ALGORITHM UNDER STABILIZING SELECTION

2009 ◽  
Vol 20 (07) ◽  
pp. 1063-1079
Author(s):  
ADIL AMIRJANOV
Keyword(s):  
Genetic Algorithm ◽  
Population Biology ◽  
Equations Of Motion ◽  
Search Space ◽  
Stabilizing Selection ◽  
Genetic Operators ◽  
Space Size ◽  
Final Population ◽  
Unique System ◽  
Average Fitness

The formalism is presented for modeling of a genetic algorithm (GA) with an adjustment of a search space size. The formalism for modeling of GA with an adjustment of a search space size assumes that the environment and the population form a unique system. In this paper, the formalism is applied to a problem which exhibits an interesting dynamics reminiscent of stabilizing selection in population biology. The equations of motion was derived that expressed the macroscopic statistical properties of population after reproductive genetic operators and an adjustment of a search space size in terms of those prior to the operation. Predictions of the theory are compared with experiments and are shown to predict the average fitness and the variance fitness of the final population accurately.

APPLICATION OF GENETIC ALGORITHMS TO A LARGE-SCALE MULTIPLE-CONSTRAINT VEHICLE ROUTING PROBLEM

2003 ◽  
Vol 03 (01) ◽  
pp. 1-21 ◽  
Author(s):  
GEORGE MOURKOUSIS ◽  
MATHEW PROTONOTARIOS ◽  
THEODORA VARVARIGOU
Keyword(s):  
Vehicle Routing ◽  
Vehicle Routing Problem ◽  
High Performance ◽  
Large Scale ◽  
Hybrid Genetic Algorithm ◽  
Real Life ◽  
Search Space ◽  
Genetic Operators ◽  
Actual Problem ◽  
Routing Problem

This paper presents a study on the application of a hybrid genetic algorithm (HGA) to an extended instance of the Vehicle Routing Problem. The actual problem is a complex real-life vehicle routing problem regarding the distribution of products to customers. A non homogenous fleet of vehicles with limited capacity and allowed travel time is available to satisfy the stochastic demand of a set of different types of customers with earliest and latest time for servicing. The objective is to minimize distribution costs respecting the imposed constraints (vehicle capacity, customer time windows, driver working hours and so on). The approach for solving the problem was based on a "cluster and route" HGA. Several genetic operators, selection and replacement methods were tested until the HGA became efficient for optimization of a multi-extrema search space system (multi-modal optimization). Finally, High Performance Computing (HPC) has been applied in order to provide near-optimal solutions in a sensible amount of time.

CPC Algorithm: Exact Area Coverage by a Mobile Robot Using Approximate Cellular Decomposition

Robotica ◽  
2020 ◽  
pp. 1-22
Author(s):  
K. R. Guruprasad ◽  
T. D. Ranjitha
Keyword(s):  
Operating System ◽  
Path Planning ◽  
Mobile Robot ◽  
Formal Analysis ◽  
Area Coverage ◽  
Cell Permeability ◽  
Cellular Decomposition ◽  
Robot Operating System ◽  
Coverage Path Planning

SUMMARY A new coverage path planning (CPP) algorithm, namely cell permeability-based coverage (CPC) algorithm, is proposed in this paper. Unlike the most CPP algorithms using approximate cellular decomposition, the proposed algorithm achieves exact coverage with lower coverage overlap compared to that with the existing algorithms. Apart from a formal analysis of the algorithm, the performance of the proposed algorithm is compared with two representative approximate cellular decomposition-based coverage algorithms reported in the literature. Results of demonstrative experiments on a TurtleBot mobile robot within the robot operating system/Gazebo environment and on a Fire Bird V robot are also provided.

Hardware Implementation of a Genetic Algorithm for Motion Path Planning

2016 ◽  
pp. 250-275
Author(s):  
Imbaby I. Mahmoud ◽  
May Salama ◽  
Asmaa Abd El Tawab Abd El Hamid
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Fitness Function ◽  
Random Number Generation ◽  
Motion Path ◽  
Genetic Operators ◽  
Fitness Evaluation ◽  
Evaluation Task ◽  
Evaluation Module ◽  
The Individual

The aim of this chapter is to investigate the hardware (H/W) implementation of Genetic Algorithm (GA) based motion path planning of robot. The potential benefit of using H/W implementation of genetic algorithm is that it allows the use of huge parallelism which is suited to random number generation, crossover, mutation and fitness evaluation. The operation of selection and reproduction are basically problem independent and involve basic string manipulation tasks. The fitness evaluation task, which is problem dependent, however proves a major difficulty in H/W implementation. Another difficulty comes from that designs can only be used for the individual problem their fitness function represents. Therefore, in this work the genetic operators are implemented in H/W, while the fitness evaluation module is implemented in software (S/W). This allows a mixed hardware/software approach to address both generality and acceleration. Moreover, a simple H/W implementation for fitness evaluation of robot motion path planning problem is discussed.

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