The niching mechanism in the evolutionary method of path planning

Abstract

This paper presents the concept of the niching mechanism in the evolutionary method of path planning. The problem is considered based on the example of a ship path planning. In this method the diversity of individuals is tested in respect to their physical distance, not the fitness function value. The researches show that such an approach increases effectiveness of solution space exploration, what results in a final solution with a better fitness function value. This paper examines several sea collision scenarios at different levels of difficulty. Based on those, the method has been tested to choose values of parameters, which significantly influence its effectiveness. © 2013 Springer-Verlag.