Path Planning of Mobile Robot Based on Improved Multiobjective Genetic Algorithm

Algorithm 1

IMGA Algorithm.

Input: Grid map, Map; Start point, : End point,

Output: Shortest path point set,min_path

1: ;

2: Evaluate fitness_value of ;

3: ;

4: while not meet termination conditions do

5: Select operation to ;

6: Crossover operation to ;

7: Mutation operation to ;

8: ;

9: ;

10: Evaluate fitness_value of ;

11: ifthen

12:  ;

13: end if

14: end while

15: min_path is with Best_fitness;

16: Smooth optimization operation to min_path;

17: return min_path;