A PROBLEM-SPECIFIC GENETIC ALGORITHM FOR PATH PLANNING OF MOBILE ROBOT IN GREENHOUSE

摘要

This paper proposes a novel Genetic Algorithms (GAs) approach for a near-optimal path planning of a mobile robot in a greenhouse. The chromosome encoding features in inverse proportion between research spaces of GAs and complexity of obstacles. The fitness evaluation is designed for both incomplete and complete paths to guide the evolutional direction. The crossover and mutation operators are trimmed to the path planning problem. Two operators were presented to promote the effectiveness of evolution of problem-specific GAs. The simulation results obtained is satisfactory.