Study of the genetic algorithm configuration for the autonomous robot pathfinding problem

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dc.contributor.authorSlavhorodskyi, V.
dc.contributor.authorReznikov, S.
dc.date.accessioned2023-02-17T10:39:34Z
dc.date.available2023-02-17T10:39:34Z
dc.date.issued2022
dc.description.abstractenThe article is devoted to the development and improvement of the systems of rational routes of mobile robots that use a genetic algorithm. For the functioning of the mobile robot it is necessary to solve the problem of route formation. This task is global, contains many solutions and does not require absolute precision. To solve this problem, a genetic algorithm is suitable, it is a heuristic algorithm of global search. This algorithm operates with different genetic operators, such as crossover, mutation, selection, generation of populations and generations. These operators can be adapted to the need for route search. Thus, the genotype as a value that can operate on the algorithm can be represented as a route consisting of distance from each other waypoints. Then, with the help of genetic operators, routes are created and changed until a route is found, it should avoid various navigational hazards and satisfies the specified parameters. However, the search engine itself depends on the coefficients that determine the mode of operation of genetic operators. The effectiveness of this method of solving the navigation problem directly depends on selected factors that make solving the problem fast and reliable or completely effective the algorithm. Thus, before the direct application of the algorithm, it is necessary to identify the basic patterns between the coefficients used, as well as to determine their optimal values, which will be most effective for the algorithm.uk
dc.format.pagerangeС. 71-77uk
dc.identifier.citationSlavhorodskyi, V. Study of the genetic algorithm configuration for the autonomous robot pathfinding problem / V. Slavhorodskyi, S. Reznikov // Адаптивні системи автоматичного управління : міжвідомчий науково-технічний збірник. – 2022. – № 1 (40). – С. 71-77. – Бібліогр.: 5 назв.uk
dc.identifier.doihttps://doi.org/10.20535/1560-8956.40.2022.261653
dc.identifier.urihttps://ela.kpi.ua/handle/123456789/52728
dc.language.isoenuk
dc.publisherКПІ ім. Ігоря Сікорськогоuk
dc.publisher.placeКиївuk
dc.sourceАдаптивні системи автоматичного управління : міжвідомчий науково-технічний збірник, 2022, № 1 (40)uk
dc.subjectrational path planninguk
dc.subjectgenetic algorithmuk
dc.subjectpopulation sizeuk
dc.subjectcrossover coefficientuk
dc.subjectmutation coefficientuk
dc.subject.udc004.896uk
dc.titleStudy of the genetic algorithm configuration for the autonomous robot pathfinding problemuk
dc.typeArticleuk

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Адаптивні системи автоматичного управління : міжвідомчий науково-технічний збірник. – 2022. – № 1 (40)