Cooperative Coevolutionary Adaptive Genetic Algorithm in Path Planning of Cooperative Multi-Mobile Robot Systems

Authors:
Zixing Cai;Zhihong Peng
Affiliations:
College of Information Science and Engineering, Central South University, Changsha, Hunan, 410083, P.R. China/ e-mail: zxcai@mail.csut.edu.cn;Department of Automatic Control, Beijing Institute of Technology, Beijing, 100081, P.R. China/ e-mail: zhihongpeng@263.net
Venue:
Journal of Intelligent and Robotic Systems
Year:
2002

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Abstract

In this paper, path planning of cooperative multi-mobile robot systems, an example of multi-agent systems, is discussed with the proposal of a novel Cooperative Coevolutionary Adaptive Genetic Algorithm (CCAGA). At the same time, for such genetic algorithms based path planning, a novel fixed-length decimal encoding mechanism for paths of each mobile robot is also proposed. Such cooperative coevolutionary adaptive genetic algorithm is suitable for parallel computation, which is convenient to solve complicated problems. Meanwhile, simulation results show that this algorithm has the property of robust convergency.