Moving Objects in the Problem of Path Planning by Evolutionary Computation

Abstract

A modified, new version of the evolutionary algorithm (of the EP/N - Evolutionary Planner/Navigator) has been used for computing the optimum path of a moving object in a given dynamic environment. The program estimating a safe path of the object in collision was developed. By taking into account certain boundaries of the manoeuvring region, along with obstacles and other moving objects, the problem of avoiding collisions was reduced to a dynamic optimisation task with static and dynamic constrains. The introduction of a time parameter and moving constrains representing the objects is the main distinction of the new system. Results of using the program for estimating the object in dynamic environment are given for example of avoiding collision at sea.