ROBOT PATH PLANNING BASED ON GENETIC ALGORITHMS WITH TWO-LAYER ENCODING

摘要

This paper focuses on the problem of finding an Euclidean \$(L 2)\$ shortest path between two distinct locations, in a known, obstacle scattered, planar environment. We use a new kind of cell decomposition approach based on the genetic algorithms (GA). We propose a new kind of encoding for the genetic algorithms, called two layer encoding, which comes from the genetics mechanism in molecular genetics. This new kind of encoding can improve the expressing ability of codes. The heart of the two layer encoding is to decrease the complexity of exploration through the middle layer codes.