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17 3 Vol.17,No.3
2000 6 CONTROL TH ORY AND APPLICATIONS Jun., 2000
Article ID:1000-8152(2000)03-0429-04
Robot Path Planning Based on Genetic Algorithms
with Two-Layer Encoding ＊
LIU Yanfei and QIU Yuhuang
(Institute of Automation, Academia Sinica·Beijing, 100080, P.R.China)
Abstract:This paper focuses on the problem of finding an uclidean shortest path between two distinct locations, in
(L )
2
a known, obstacle-scattered, planar environment.We use a new kind of cell decomposition approach based on the genetic algo-
rithms (GA).We propose a newkind of encoding for the genetic algorithms, called two-layer encoding, which comes from the
genetics mechanism in molecular genetics.This new kind of encoding can improve the expressing ability of codes.The heart of
the two-layer encoding is to decrease the complexity of exploration through the middle-layer codes.
Key words:two-layer encoding;path planning;shortest paths;GA
Document code:A
(·, 100080)
:, .
., ———.
...
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1 Introduction Cell decomposition approaches consist in subdividing
Planning collision-free paths of the shortest distances an environment into discrete cells of a predefined shape
through a known, obstacle-scattered, planar environment and size and then searching an undirected graph based on
has been studied extensively[
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