Cooperative coevolutionary adaptive genetic algorithm in path planning of cooperative multi-mobile robot systems

In this paper, path planning of cooperative multi-mobile robot systems, an example of multi-agent systems, is discussed with the proposal of a novel Cooperative Coevolutionary Adaptive Genetic Algorithm (CCAGA). At the same time, for such genetic algorithms based path planning, a novel fixed-length decimal encoding mechanism for paths of each mobile robot is also proposed. Such cooperative coevolutionary adaptive genetic algorithm is suitable for parallel computation, which is convenient to solve complicated problems. Meanwhile, simulation results show that this algorithm has the property of robust convergency.