An improved adaptive genetic algorithm for mobile robot path planning analogous to TSP with constraints on city priorities

Junjie Jiang, Xifan Yao, Erfu Yang, Jorn Mehnen

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The material transportation planning with a mobile robot can be regarded as the ordered clustered traveling salesman problem. To solve such problems with different priorities at stations, an improved adaptive genetic simulated annealing algorithm is proposed. Firstly, the priority matrix is defined according to station priorities. Based on standard genetic algorithm, the generating strategy of the initial population is improved to prevent the emergence of non-feasible solutions, and an improved adaptive operator is introduced to improve the population ability for escaping local optimal solutions and avoid premature phenomena. Moreover, to speed up the convergence of the proposed algorithm, the simulated annealing strategy is utilized in mutation operations. The experimental results indicate that the proposed algorithm has the characteristics of strong ability to avoid local optima and the faster convergence speed.
Original languageEnglish
Number of pages9
Publication statusPublished - 10 Apr 2020
EventIEEE World Congress on Computational Intelligence 2020 - Glasgow, United Kingdom
Duration: 19 Jul 202024 Jul 2020


ConferenceIEEE World Congress on Computational Intelligence 2020
Abbreviated titleWCCI
Country/TerritoryUnited Kingdom
Internet address


  • Traveling Salesman Problem
  • genetic algorithm
  • path planning
  • mobile robot
  • simulated annealing
  • crossover and mutation
  • automated guided vehicles (AGVs)
  • mechatronics

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