다목적 유전 알고리즘 기반 고밀도 로봇군의 최적 경로 탐색

Abstract

This paper approaches a scheduling problem of multi-robots motions that aims for optimized schedule in limited area, from an expanded MTSP. We make the best way of genetic algorithm as we call NSGA-Ⅱ(Non-dominated Sorting Algorithm), by adding multi objects and evaluating each chromosome. We simulate motion of six robots with the optimized schedule and show effectiveness of the proposed NSGA-Ⅱ.