Genetic algorithms-based path-planning system for the motion of a group of mobile micro-robots

摘要

A genetic algorithm for planning optimal paths for a group of micro-robots in an environment with obstacles is considered. This algorithm allows one to solve the posed problem according to the criteria that are most frequently given, such as the minimum length of the path, minimum motion time, etc. The high performance of the proposed algorithm allows one to find a solution in real time, only using the resources of onboard computers of micro-robots. The simulation results and the optimal values of the parameters for which the algorithm is balanced in the best way are presented.