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Genetic algorithm for combinatorial path planning: the subtour problem. (English) Zbl 1213.90253
Summary: The purpose of this paper is to present a combinatorial planner for autonomous systems. The approach is demonstrated on the so-called subtour problem, a variant of the classical traveling salesman problem (TSP): given a set of n possible goals/targets, the optimal strategy is sought that connects kn goals. The proposed solution method is a genetic algorithm coupled with a heuristic local search. To validate the approach, the method has been benchmarked against TSPs and subtour problems with known optimal solutions. Numerical experiments demonstrate the success of the approach.
MSC:
90C35Programming involving graphs or networks
68T05Learning and adaptive systems
90C59Approximation methods and heuristics