Hybrid Algorithm combining Genetic algorithms and CSP approach to plane an Optimized path for a Mobile Robot moving under Time Window
Tlijani Hayet, Tlijani Hatem, Jilani Knani, M’sirdi NacerKouider · IOSR Journal of Computer Engineering · 2014
The problems of optimization are considered as a type of a constraint satisfaction problem: COP (Constraint Optimization problem).In this frame goes our first works which are interested in the optimization of a reference trajectory of a mobile robot used for the surveillance (Surveyor Robot).Indeed, in the previous work we have focused on the minimization of the length of this trajectory by using the approach of the genetic algorithms.At the level of our present researches we shall add temporal windows to limit the time delayed in the passage between one surveyed site and the following one.The consideration of temporal aspects requires a modelling of problem with a satisfaction of constraints.So that, a hybridization of the algorithm of optimization already developed at the previous work by the approach of CSP (Constraint Satisfaction Problem), is indispensable for our case.The new algorithm which will be developed and feigned at this work is a genetic algorithm allowing minimizing the length of a trajectory crossed by a mobile robot of surveillance by respecting the time fixed to take during the passage through two successive sites.