Multi-dimensional path planning using evolutionary computation

摘要: The paper describes a flexible and efficient multi-dimensional path planning algorithm based on evolutionary computation concepts. A novel iterative multi-resolution representation is used as basis for the GA coding. use of can reduce expected search length problem. If successful found early in hierarchy (at low level resolution), then further expansion that portion not necessary. This advantage mapped into encoded space adjusts string accordingly. flexible; it handles problems, accommodates different optimization criteria changes these criteria, utilizes domain specific knowledge making decisions. In planner, individual candidates are evaluated with respect to workspace so configuration required. be applied paths mobile robots, assembly, piano-movers problems articulated manipulators. effectiveness demonstrated number problems.