An improved genetic algorithm for robot path planning

Abstract

The conventional genetic algorithm (GA) for path planning exists several drawbacks, such as uncertainty in the direction of robot movement, circuitous routes, low convergence rates, and prolonged search time. To solve these problems, this study introduces an improved GA-based path-planning algorithm that adopts adaptive regulation of crossover and mutation probabilities. This algorithm uses a hybrid selection strategy that merges elite, tournament, and roulette wheel selection methods. An adaptive approach is implemented to control the speed of population evolution through crossover and mutation. Combining with a local search operation enhances the optimization capability of the algorithm. The proposed algorithm was compared with the traditional GA through simulations, demonstrating shorter path lengths and reduced search times.