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C JLIPMAD@A FCWAD @ALATOGC JLIPMAD@A FCWAD @ALATOG

CM@IVOTBH EIV ^CTB ^MCLLOL@ IECM@IVOTBH EIV ^CTB ^MCLLOL@ IE

C HIFOMA VIFITC HIFOMA VIFIT

^vawaltad fy;

Tcvqldaa~ Dbit

Da~t ie AGA

Gilgivdoc Qlouavwoty

8/14/2019 Knowledge-Based GA for Robot Path Planning

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Tbow ~vawaltctoil ow fcwad il c vawacvgb ~c~av pvottal fy tba eimmipol`

cqtbivw;

_, Bq cld Wohil _cl`

Tbow ~c~av pcw ~qfmowbad ct;

Oltavlctoilcm Gileavalga ie Vifitogw cld Cqtihctoil- LapIvmaclw MC C~vom 6>>4

Tbow ~vawaltctoil ow wimamy haclt eiv adqgctoilcm ~qv~iwaw,

Cgjlipmad`ahaltwCgjlipmad`ahaltw

8/14/2019 Knowledge-Based GA for Robot Path Planning

3/21

Wcmoalt EactqvawWcmoalt Eactqvaw

Jlipmad`a Fcwad @C eivJlipmad`a Fcwad @C eiv^CTB ^MCLLOL@^CTB ^MCLLOL@ eiv hifomaeiv hifomavifit ~vi~iwad,vifit ~vi~iwad,

^vi~iwad @C^vi~iwad @C olgiv~ivctaw dihcol jlipmad`aolgiv~ivctaw dihcol jlipmad`a olti otwolti otw

w~agocmo{ad `alatog i~avctivw "migcm wacvgb/,w~agocmo{ad `alatog i~avctivw "migcm wacvgb/,

Qlosqa cld woh~maQlosqa cld woh~ma ~ctb va~vawaltctoil hatbid~ctb va~vawaltctoil hatbid,, Woh~ma fqt aeeagtouaWoh~ma fqt aeeagtoua aucmqctoil hatbidaucmqctoil hatbid,,

@C gc~cfma ie eoldol` i~tohcm iv lacv i~tohcm vifit ~ctb@C gc~cfma ie eoldol` i~tohcm iv lacv i~tohcm vifit ~ctb

ol fitb wtctog cw pamm cw dylchog aluovilhaltw,ol fitb wtctog cw pamm cw dylchog aluovilhaltw,

Ovva~mcgacfma vima ieOvva~mcgacfma vima ieW^AGOCMO[AD @ALATOGW^AGOCMO[AD @ALATOGI^AVCTIVWI^AVCTIVW dahilwtvctad fy gih~cvowil wtqdy,dahilwtvctad fy gih~cvowil wtqdy,

8/14/2019 Knowledge-Based GA for Robot Path Planning

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PBCT OW ^CTB ^MCLLOL@9PBCT OW ^CTB ^MCLLOL@9

^ctb ~mcllol` ow ti eold c^ctb ~mcllol` ow ti eold c

wqotcfmawqotcfma gimmowoil(evaagimmowoil(evaa ~ctb eiv~ctb eiv

c hifoma vifit ti hiua evih cc hifoma vifit ti hiua evih c

wtcvt migctoil ti c tcv`atwtcvt migctoil ti c tcv`at

migctoil- ol cl aluovilhaltmigctoil- ol cl aluovilhalt

potb ifwtcgmaw,potb ifwtcgmaw,

Dawovcfomoty ti fa i~tohcm)lil(Dawovcfomoty ti fa i~tohcm)lil(

i~tohcm ~ctb gcl fa p,v,t,i~tohcm ~ctb gcl fa p,v,t,

dowtclga- toha iv alav`y,dowtclga- toha iv alav`y,"Dowtclga ow gbiwal bava/,"Dowtclga ow gbiwal bava/,^CTB

WTCVT

TAVHOLCM

IFWTCGMAW

@VODW

OMMQWTVCTOUA ALUOVILHALT EIV ^CTBOMMQWTVCTOUA ALUOVILHALT EIV ^CTB

^MCLLOL@; @VOD VA^VAWALTCTOIL^MCLLOL@; @VOD VA^VAWALTCTOIL

8/14/2019 Knowledge-Based GA for Robot Path Planning

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JLIPMAD@A(FCWAD @CwJLIPMAD@A(FCWAD @Cw

^vaeavvad iuav Gmcwwogcm @Cw,^vaeavvad iuav Gmcwwogcm @Cw,

Qwa w~agocmo{ad `alatog i~avctivw "c~cvt evih tba qwqcmQwa w~agocmo{ad `alatog i~avctivw "c~cvt evih tba qwqcm

tpi/ cld gcl bcua ucvocfma mal`tb folcvy wtvol`w,tpi/ cld gcl bcua ucvocfma mal`tb folcvy wtvol`w,

Jlipmad`a olgiv~ivctoil awwaltocm ol tba ~ctb ~mcllol`Jlipmad`a olgiv~ivctoil awwaltocm ol tba ~ctb ~mcllol`

~vifmah pbogb oh~viuaw tba aeeogoalgy ie tba @Cw cw~vifmah pbogb oh~viuaw tba aeeogoalgy ie tba @Cw cw

gih~cvad ti tbagih~cvad ti tba fmoldfmoldwacvgb hcda fy Gmcwwogcm @Cw,wacvgb hcda fy Gmcwwogcm @Cw,

8/14/2019 Knowledge-Based GA for Robot Path Planning

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TBA ^VI^IWAD JLIPMAD@A(FCWAD @CTBA ^VI^IWAD JLIPMAD@A(FCWAD @C

^VIFMAH VA^VAWALTCTOIL AUCMQCTOIL HATBID @ALATOG I^AVCTIVW^VIFMAH VA^VAWALTCTOIL AUCMQCTOIL HATBID @ALATOG I^AVCTIVW

Va~vawaltad fy ivdavmy Dowtol`qowbaw pbatbav GviwwiuavVa~vawaltad fy ivdavmy Dowtol`qowbaw pbatbav Gviwwiuav

lqhfavadlqhfavad `vodw`vodw- acgb ~ctb ow eacwofma iv lit, Hqtctoil- acgb ~ctb ow eacwofma iv lit, Hqtctoil

ie pbogb va~vawaltw c Oldogctaw doeeavalga fatpaal Lida(Va~covie pbogb va~vawaltw c Oldogctaw doeeavalga fatpaal Lida(Va~cov

migctoil ol tba aluovilhalt, ~ctb sqcmotoaw ol aotbav Mola(Va~covmigctoil ol tba aluovilhalt, ~ctb sqcmotoaw ol aotbav Mola(Va~cov

gcta`ivy, Oh~viuahaltgcta`ivy, Oh~viuahalt

DamatoilDamatoil

@VOD VA^VAWALTCTOIL@VOD VA^VAWALTCTOIL

AUCMQCTOIL EQLGTOILAUCMQCTOIL EQLGTOIL

8/14/2019 Knowledge-Based GA for Robot Path Planning

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^VIFMAH VA^VAWALTCTOIL^VIFMAH VA^VAWALTCTOIL

Va~vawaltad fy ivdavmy lqhfavadVa~vawaltad fy ivdavmy lqhfavad

`vodw`vodw "a`; 3> R 3>/- acgb ie pbogb"a`; 3> R 3>/- acgb ie pbogbva~vawaltw c migctoil ol tbava~vawaltw c migctoil ol tbaaluovilhalt,aluovilhalt,

Fiqldcvy ie ifwtcgmaw ow eivhadFiqldcvy ie ifwtcgmaw ow eivhadfy tbaovfy tbaovcgtqcm fiqldcvy ~mqwcgtqcm fiqldcvy ~mqwholohqh wceaty dowtclgaholohqh wceaty dowtclga

gilwodavol` tba wo{a ie tba hifomagilwodavol` tba wo{a ie tba hifomavifit "wi tbct vifit gcl favifit "wi tbct vifit gcl fagilwodavad cw c ~iolt ol tbagilwodavad cw c ~iolt ol tbaaluovilhalt/,aluovilhalt/,

Algidol` ie ~ctb;Algidol` ie ~ctb; Wasqalga ieWasqalga ie`vod lqhfavw evih wiqvga ti tcv`at`vod lqhfavw evih wiqvga ti tcv`atpotb cmm tba oltavhadocta lidaw,potb cmm tba oltavhadocta lidaw,

Mal`tb ie gbvihiwihaw ucvoawMal`tb ie gbvihiwihaw ucvoawevihevih 6 ti L6 ti Lhcrhcr HIFOMA VIFIT ALUOVILHALT CLDHIFOMA VIFIT ALUOVILHALT CLD

^CTB VA^VAWALTCTOIL,^CTB VA^VAWALTCTOIL, WIMODWIMOD MOLA;MOLA;

EACWOFMAEACWOFMA^CTB:^CTB: DCWBADDCWBAD MOLA;MOLA;

OLEACWOFMAOLEACWOFMA^CTB^CTB

WTCVTWTCVT

TCV@ATTCV@AT

WTCVT ^IOLTWTCVT ^IOLT> 64 75 55 04 24 ( ??WTCVT ^IOLTWTCVT ^IOLT TCV@AT ^IOLTTCV@AT ^IOLT

LIDALIDA

C WCH^MA GBVIHIWIHA; C ^CTB VA^VAWALTAD F_C WCH^MA GBVIHIWIHA; C ^CTB VA^VAWALTAD F_

LIDAW ECMMOL@ IL @VODW POTB DOEEAVALT LQHFAVWLIDAW ECMMOL@ IL @VODW POTB DOEEAVALT LQHFAVW

8/14/2019 Knowledge-Based GA for Robot Path Planning

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^VIFMAH VA^VAWALTCTOIL^VIFMAH VA^VAWALTCTOIL "gilt;/"gilt;/

C eacwofma ~ctb ow c gimmowoil evaa ~ctb o,a, liC eacwofma ~ctb ow c gimmowoil evaa ~ctb o,a, li

lidaw ecmm il cly ifwtcgma- iv lil ie tba molalidaw ecmm il cly ifwtcgma- iv lil ie tba mola

wa`haltw ie c ~ctb oltavwagtw cl ifwtcgma,wa`haltw ie c ~ctb oltavwagtw cl ifwtcgma,

8/14/2019 Knowledge-Based GA for Robot Path Planning

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8/14/2019 Knowledge-Based GA for Robot Path Planning

10/21

AUCMQCTOIL HATBIDAUCMQCTOIL HATBID "gilt;/"gilt;/

Tbow aucmqctoil `ouaw ~alcmty ti oleacwofma ~ctbw fqt wtomm jaa~ tbah olTbow aucmqctoil `ouaw ~alcmty ti oleacwofma ~ctbw fqt wtomm jaa~ tbah ol~i~qmctoil fagcqwa tbay ho`bt fagiha `iid eacwofma wimqtoilw cetav gavtcol~i~qmctoil fagcqwa tbay ho`bt fagiha `iid eacwofma wimqtoilw cetav gavtcol`alatog tvclweivhctoilw,`alatog tvclweivhctoilw,

Cmmipw iuavmc~ fatpaal eotlaww ie eacwofma cld oleacwofma wimqtoilw fagcqwa cCmmipw iuavmc~ fatpaal eotlaww ie eacwofma cld oleacwofma wimqtoilw fagcqwa cuavy ~iiv eacwofma ~ctb ow lit lagawwcvomy fattav tbcl c uavy `iid lacvuavy ~iiv eacwofma ~ctb ow lit lagawwcvomy fattav tbcl c uavy `iid lacv

eacwofma ~ctb,eacwofma ~ctb,

Fattav gbclga eiv `iid oleacwofma wimqtoilw ti auimua olti c `iid wimqtoil,Fattav gbclga eiv `iid oleacwofma wimqtoilw ti auimua olti c `iid wimqtoil,

Ti wcua gih~qtctoilcm toha- wiha oleivhctoil iftcolad fy aucmqctoil laadwTi wcua gih~qtctoilcm toha- wiha oleivhctoil iftcolad fy aucmqctoil laadwti fa vagivdad wi tbct mctav il ot gcl fa qwad fy wiha w~agocmo{ad `alatogti fa vagivdad wi tbct mctav il ot gcl fa qwad fy wiha w~agocmo{ad `alatog

i~avctivw cw baqvowtog jlipmad`a potbiqt va(gcmgqmctoil,i~avctivw cw baqvowtog jlipmad`a potbiqt va(gcmgqmctoil, Eacwofomoty ; Eacwofma)Oleacwofma- Lida(oleacwofma)Mola(oleacwofma,Eacwofomoty ; Eacwofma)Oleacwofma- Lida(oleacwofma)Mola(oleacwofma,

Lqhfav ie oleacwofma lidaw iv mola wa`haltw,Lqhfav ie oleacwofma lidaw iv mola wa`haltw,

Pbogb ifwtcgma"w/ c ~ctb oltavwagtw,Pbogb ifwtcgma"w/ c ~ctb oltavwagtw,

8/14/2019 Knowledge-Based GA for Robot Path Planning

11/21

@ALATOG I^AVCTIVW@ALATOG I^AVCTIVW Gviwwiuav cld hqtctoil i~avctivw cva gqwtiho{ad ti eiv tba ~ctb ~mcllol` ~vifmah,Gviwwiuav cld hqtctoil i~avctivw cva gqwtiho{ad ti eiv tba ~ctb ~mcllol` ~vifmah,

Eiqv w~agocmo{ad `alatog i~avctivw cva dawo`lad ti hcja qwa ie ~vifmah(w~agoeog jlipmad`aEiqv w~agocmo{ad `alatog i~avctivw cva dawo`lad ti hcja qwa ie ~vifmah(w~agoeog jlipmad`a

olgmqdol` jlipmad`a ie tba aluovilhalt,olgmqdol` jlipmad`a ie tba aluovilhalt,

Gviwwiuav;Gviwwiuav; Gbiiwaw ila lida ie ^cvalt 3 cld itbav ie ^cvalt 6, Gbagj tba tpi ieew~vol` cldGbiiwaw ila lida ie ^cvalt 3 cld itbav ie ^cvalt 6, Gbagj tba tpi ieew~vol` cld

damata tba ~cvt fatpaal tpi wcha lidaw- oe ot bc~~alw, Gbioga ie doeeavaltdamata tba ~cvt fatpaal tpi wcha lidaw- oe ot bc~~alw, Gbioga ie doeeavalt

gviwwiuav wotaw ol doeeavalt ~cvaltw falaeotw ar~mivctoil ie wimqtoil w~cga,gviwwiuav wotaw ol doeeavalt ~cvaltw falaeotw ar~mivctoil ie wimqtoil w~cga,

Hqtctoil;Hqtctoil; Vcldihmy gbiiwa c lida cld va~mcga ot potb c lida tbct ow lit olgmqdad ol tba ~ctb,Vcldihmy gbiiwa c lida cld va~mcga ot potb c lida tbct ow lit olgmqdad ol tba ~ctb,

Oh~viuaw douavwoty ie tba wimqtoil ~i~qmctoil, Lit lagawwcvy tbct wimqtoil ow fattavOh~viuaw douavwoty ie tba wimqtoil ~i~qmctoil, Lit lagawwcvy tbct wimqtoil ow fattav

tbcl cetav ot ow hqtctad,tbcl cetav ot ow hqtctad,

8/14/2019 Knowledge-Based GA for Robot Path Planning

12/21

@ALATOG I^AVCTIVW@ALATOG I^AVCTIVW "gilt;/"gilt;/

Mola(Va~cov;Mola(Va~cov; qwad ti va~cov cl oleacwofma mola wa`halt fy olwavtol`qwad ti va~cov cl oleacwofma mola wa`halt fy olwavtol`

wqotcfma lida fatpaal tba tpi lidaw ie tba wa`halt,wqotcfma lida fatpaal tba tpi lidaw ie tba wa`halt,Fawt lida ow migctad fy c~~myol` migcm wacvgb chil` cmmFawt lida ow migctad fy c~~myol` migcm wacvgb chil` cmm

lao`bfivol` `vodw ie oltavwagtad ifwtcgma,lao`bfivol` `vodw ie oltavwagtad ifwtcgma,

Lida(Va~cov;Lida(Va~cov; ow qwad ti hiua c lida ecmmol` il cl ifwtcgma iqt ie tbaow qwad ti hiua c lida ecmmol` il cl ifwtcgma iqt ie tba

ifwtcgma cld ti c fawt `vod cviqld tba ifwtcgma,ifwtcgma cld ti c fawt `vod cviqld tba ifwtcgma,

"Migcm wacvgb/,"Migcm wacvgb/,

LAP LIDA OLWAVTADLAP LIDA OLWAVTAD

8/14/2019 Knowledge-Based GA for Robot Path Planning

13/21

@ALATOG I^AVCTIVW@ALATOG I^AVCTIVW "gilt;/"gilt;/

Damatoil;Damatoil;C~~moad fitb ti eacwofma cld oleacwofma ~ctbw, Vcldihmy gbiiwaC~~moad fitb ti eacwofma cld oleacwofma ~ctbw, Vcldihmy gbiiwa

lida- gbagj otw tpi cdkcgalt lidaw cld gillagtad wa`haltw- oelida- gbagj otw tpi cdkcgalt lidaw cld gillagtad wa`haltw- oe

damatoil ie gbiwal lida ow falaeogocm- damata ot,damatoil ie gbiwal lida ow falaeogocm- damata ot,

Oh~viuahalt;Oh~viuahalt; Dawo`lad eiv eacwofma wimqtoilw, Vcldihmy gbiiwa ilaDawo`lad eiv eacwofma wimqtoilw, Vcldihmy gbiiwa ila

lida- di c migcm wacvgb ol tba lao`bfivol` `vodw ie tbalida- di c migcm wacvgb ol tba lao`bfivol` `vodw ie tba

lida- hiua ti fawt `vod, Eiv eola tqlol` ie eacwofma wimqtoilw,lida- hiua ti fawt `vod, Eiv eola tqlol` ie eacwofma wimqtoilw,

8/14/2019 Knowledge-Based GA for Robot Path Planning

14/21

D_LCHOG ALUOVILHALTD_LCHOG ALUOVILHALT

Wqotcfma eivdylchog aluovilhalt o,a, oe aluovilhalt ow gbcl`ad,

Oe aluovilhalt ow gbcl`ad- tba cm`ivotbh pomm va(aucmqcta tba gqvvalt

~i~qmctoil cggivdol` ti tba lap aluovilhalt cld wtcvtw tba ~vigaww ti `at c

lap wimqtoil,

Ti olgvacwa douavwoty ie tba ~i~qmctoil- hqtctoil potb bo`bav ~vifcfomoty ow

c~~moad ti tba gqvvalt ~i~qmctoil,

8/14/2019 Knowledge-Based GA for Robot Path Planning

15/21

WOHQMCTOILWWOHQMCTOILW Aeeagtoualaww ie ~vi~iwad @C dahilwtvctad fy wohqmctoilw,Aeeagtoualaww ie ~vi~iwad @C dahilwtvctad fy wohqmctoilw,

^cvchatav wattol`w;^cvchatav wattol`w;

^i~qmctoil wo{a 8 1>^i~qmctoil wo{a 8 1>^vifcfomoty eiv hqtctoil 8 >,6)gbvihiwiha cld >,? eiv vawt,^vifcfomoty eiv hqtctoil 8 >,6)gbvihiwiha cld >,? eiv vawt,

Tiqvlchalt wamagtoil cld amotowh cva c~~moad,Tiqvlchalt wamagtoil cld amotowh cva c~~moad,

35 R 35 `vodw c~~moad ti tba aluovilhaltw,35 R 35 `vodw c~~moad ti tba aluovilhaltw,

Cmm wohqmctoilw cva dila il c ^altoqh 7 ^G,Cmm wohqmctoilw cva dila il c ^altoqh 7 ^G,

Wohqmctoil ow w~agocmmy oh~ivtclt eiv tbvaa ty~aw ie ~ctbw;Wohqmctoil ow w~agocmmy oh~ivtclt eiv tbvaa ty~aw ie ~ctbw;

C/C/ ^ctb ^mcllol` ol cl Aluovilhalt potb c Q(Wbc~ad Ifwtcgma;^ctb ^mcllol` ol cl Aluovilhalt potb c Q(Wbc~ad Ifwtcgma;

Potb hiva lqhfav ie `alavctoilw- @C pomm auimua fattav wimqtoil- cw wbipl ol tbaPotb hiva lqhfav ie `alavctoilw- @C pomm auimua fattav wimqtoil- cw wbipl ol tbaeo`qva,eo`qva,

F/F/ ^ctb ^mcllol` ol Gih~mar Aluovilhalt;^ctb ^mcllol` ol Gih~mar Aluovilhalt;

@C c~~moad ti doeeavalt hifoma vifit aluovilhaltw potb doeeavalt ifwtcgma mcyiqtw,@C c~~moad ti doeeavalt hifoma vifit aluovilhaltw potb doeeavalt ifwtcgma mcyiqtw,

G/G/ ^ctb ^mcllol` ol c Dylchog Aluovilhalt;^ctb ^mcllol` ol c Dylchog Aluovilhalt;

^vi~iwad @C pivjw pamm fitb potb wtctog cw pamm cw dylchog aluovilhaltw, Pbal^vi~iwad @C pivjw pamm fitb potb wtctog cw pamm cw dylchog aluovilhaltw, Pbalaluovilhalt gbcl`aw- oleivhctoil ie ifwtcgmaw ow q~dctad, Tba cm`ivotbh va(aluovilhalt gbcl`aw- oleivhctoil ie ifwtcgmaw ow q~dctad, Tba cm`ivotbh va(aucmqctaw tba gqvvalt ~i~qmctoil cggivdol` ti lap oleivhctoil, Giwt ie wimqtoil eivaucmqctaw tba gqvvalt ~i~qmctoil cggivdol` ti lap oleivhctoil, Giwt ie wimqtoil eivgqvvalt ~i~qmctoil cva q~dctad,gqvvalt ~i~qmctoil cva q~dctad,

8/14/2019 Knowledge-Based GA for Robot Path Planning

16/21

Q WBC^A IFWTCGMA ALUOVILHALTQ WBC^A IFWTCGMA ALUOVILHALT

EO@QVA "c/; FAWT OLOTOCM WIMQTOIL "GIWT 8 2>,1?/EO@QVA "c/; FAWT OLOTOCM WIMQTOIL "GIWT 8 2>,1?/

EO@QVA "f/; FAWT WIMQTOIL OL @ALAVCTOIL 2 "GIWT 8 46,>6/EO@QVA "f/; FAWT WIMQTOIL OL @ALAVCTOIL 2 "GIWT 8 46,>6/

EO@QVA "g/; FAWT WIMQTOIL OL @ALAVCTOIL 66 "GIWT 8 77,?2/EO@QVA "g/; FAWT WIMQTOIL OL @ALAVCTOIL 66 "GIWT 8 77,?2/EO@QVA "d/; I^TOHCM ^CTB; FAWT WIMQTOIL OL @ALAVCTOIL 7> "GIWT 8 6?,3>/EO@QVA "d/; I^TOHCM ^CTB; FAWT WIMQTOIL OL @ALAVCTOIL 7> "GIWT 8 6?,3>/

8/14/2019 Knowledge-Based GA for Robot Path Planning

17/21

^CTB ^MCLLOL@ OL GIH^MAR^CTB ^MCLLOL@ OL GIH^MAR

ALUOVILHALTALUOVILHALT

EO@QVA "c/; ^CTB IFTCOLAD F_ @C OL ILA T_^OGCM VQLEO@QVA "c/; ^CTB IFTCOLAD F_ @C OL ILA T_^OGCM VQL

EO@QVA "f/; TBVAA CMTAVLCTOUA ^CTBW IFTCOLAD F_ @C EVIH DOEEAVALTEO@QVA "f/; TBVAA CMTAVLCTOUA ^CTBW IFTCOLAD F_ @C EVIH DOEEAVALT

VQLWVQLW

8/14/2019 Knowledge-Based GA for Robot Path Planning

18/21

^CTB ^MCLLOL@ OL C D_LCHOG^CTB ^MCLLOL@ OL C D_LCHOG

ALUOVILHALTALUOVILHALT

EO@QVA "c/; ^CTB IFTCOLAD OL TBA IVO@OLCM ALUOVILHALTEO@QVA "c/; ^CTB IFTCOLAD OL TBA IVO@OLCM ALUOVILHALT

EO@QVA "f/; ^CTB CETAV CDDOL@ IFWTCGMAEO@QVA "f/; ^CTB CETAV CDDOL@ IFWTCGMA

EO@QVA "g/; ^CTB CETAV VAHIUCM IE TBA IFWTCGMAEO@QVA "g/; ^CTB CETAV VAHIUCM IE TBA IFWTCGMA

8/14/2019 Knowledge-Based GA for Robot Path Planning

19/21

GIH^CVOWIL IE TBA @C POTB CLDGIH^CVOWIL IE TBA @C POTB CLD

POTBIQT W^AGOCMO[AD I^AVCTIVWPOTBIQT W^AGOCMO[AD I^AVCTIVW

W^AGOCMO[AD I^AVCTIVWW^AGOCMO[AD I^AVCTIVW POTBPOTB POTBIQTPOTBIQT

LI, IE VQLWLI, IE VQLW 6>6> 6>6>

FAWT EIQLDFAWT EIQLD^CTB GIWT^CTB GIWT

HACLHACL 7>,217>,21 53,4353,43

WDWD >,50>,50 37,1437,14

LI, IELI, IE@ALAVCTOILW@ALAVCTOILW

HACLHACL 610610 0??0??

WDWD 367367 40>40>

WD; WTCLDCVD DAUOCTOILWD; WTCLDCVD DAUOCTOIL

Tbqw- tba qwa ie w~agocmo{ad i~avctivw oh~viua ~aveivhclga ie @C wo`loeogcltmy,Tbqw- tba qwa ie w~agocmo{ad i~avctivw oh~viua ~aveivhclga ie @C wo`loeogcltmy,

8/14/2019 Knowledge-Based GA for Robot Path Planning

20/21

GILGMQWOILW;GILGMQWOILW;

Jlipmad`a(fcwad @C ~vi~iwad,Jlipmad`a(fcwad @C ~vi~iwad,

Woh~ma cld aeeagtoua ~ctb va~vawaltctoil cld aucmqctoil,Woh~ma cld aeeagtoua ~ctb va~vawaltctoil cld aucmqctoil,

Dihcol jlipmad`a ow olgiv~ivctad ol tba ~vifmah w~agoeog `alatog i~avctivw,Dihcol jlipmad`a ow olgiv~ivctad ol tba ~vifmah w~agoeog `alatog i~avctivw,

Wtctowtogcm clcmywow wbip w~agocmo{ad i~avctivw oh~viua ~aveivhclga ie @CWtctowtogcm clcmywow wbip w~agocmo{ad i~avctivw oh~viua ~aveivhclga ie @C

wo`loeogcltmy,wo`loeogcltmy,

Aeeagtoua fitb ol gih~mar wtctog cw pamm cw dylchog aluovilhaltw,Aeeagtoua fitb ol gih~mar wtctog cw pamm cw dylchog aluovilhaltw,

Eqtqva Pivj;Eqtqva Pivj; Fattav qtomo{ctoil ie dihcol jlipmad`a aw~ ti `alavcta hivaFattav qtomo{ctoil ie dihcol jlipmad`a aw~ ti `alavcta hiva

eacwofma wimqtoilw eiv olotocm ~i~qmctoil,eacwofma wimqtoilw eiv olotocm ~i~qmctoil,

Wolga ot dacmw potb dylchog aluovilhaltw- lap wimqtoilwWolga ot dacmw potb dylchog aluovilhaltw- lap wimqtoilw

fcwad il jlipmad`a cfiqt tba aluovilhalt gbcl`a gcl fafcwad il jlipmad`a cfiqt tba aluovilhalt gbcl`a gcl fa

olkagtad olti tba ~i~qmctoil,olkagtad olti tba ~i~qmctoil,

8/14/2019 Knowledge-Based GA for Robot Path Planning

21/21

TBCLJ _IQ ##TBCLJ _IQ ##