Optimal dynamic control of a mobile robot by genetic algorithm with symmetric code-GASC

In this paper, the authors describe a new general-purpose genetic algorithm strategy, Symmetric Code Genetic Algorithm, and its coding theory. This new genetic strategy is applied to solve the problem of the optimal dynamic control and path planning of a mobile robot. In this genetic algorithm, some new techniques have been proposed, such as “immigrate idea”, “partial heritage”, “good member protect”, etc. Included are a comparison of different mutation-cross-over and encoding techniques. The results of the algorithm simulation show that these techniques are very important for enhancing the performance of the genetic strategy