The Application of an Adaptive Genetic Algorithm Based on Collision Detection in Path Planning of Mobile Robots

Table 10

Algorithm parameters.

AGACD	Start grid number	0
	Target grid number	2499
	Initial population size	80
	Number of iterations	500
	Crossover probability	pc_high	0.9
		pc_low	0.75
	Mutation probability	pm_high	0.3
		pm_low	0.15
BGA	Start grid number	0
	Target grid number	2499
	Initial population size	60
	Number of iterations	500
	Crossover probability	0.9
	Mutation probability	0.3
MPMGA	Start grid number	0
	Target grid number	2499
	Initial population size	45
	The size of each small population	15
	Number of iterations	500
	Crossover probability	High crossover probability	0.8
		Low crossover probability	0.3
	Mutation probability	High mutation probability	0.6
		Low mutation probability	0.1
	Accuracy coefficient	1
	Initial temperature	1
	Temperature decay rate	0.9