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Soft Computing

, Volume 17, Issue 7, pp 1283–1299 | Cite as

Multi-objective optimal path planning using elitist non-dominated sorting genetic algorithms

  • Faez Ahmed
  • Kalyanmoy Deb
Methodologies and Application

Abstract

A multi-objective vehicle path planning method has been proposed to optimize path length, path safety, and path smoothness using the elitist non-dominated sorting genetic algorithm—a well-known soft computing approach. Four different path representation schemes that begin their coding from the start point and move one grid at a time towards the destination point are proposed. Minimization of traveled distance and maximization of path safety are considered as objectives of this study while path smoothness is considered as a secondary objective. This study makes an extensive analysis of a number of issues related to the optimization of path planning task-handling of constraints associated with the problem, identifying an efficient path representation scheme, handling single versus multiple objectives, and evaluating the proposed algorithm on large-sized grids and having a dense set of obstacles. The study also compares the performance of the proposed algorithm with an existing GA-based approach. The evaluation of the proposed procedure against extreme conditions having a dense (as high as 91 %) placement of obstacles indicates its robustness and efficiency in solving complex path planning problems. The paper demonstrates the flexibility of evolutionary computing approaches in dealing with large-scale and multi-objective optimization problems.

Keywords

Multi-objective path planning Potential field Path length Path safety Path smoothness NSGA-II Genetic algorithms 

Notes

Acknowledgments

The study is supported by JC Bose National Fellowship to Prof. K. Deb and Department of Science and Technology, Government of India, under SERC-Engineering Sciences scheme (No. SR/S3/MERC/091/2009). Funding from Academy of Finland under grant 133387 for executing a part of this research is also appreciated.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringIndian Institute of Technology KanpurKanpurIndia
  2. 2.Department of Information and Service EconomyAalto University School of EconomicsHelsinkiFinland

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