Comparison of Single and Multi-Population Evolutionary Algorithm for Path Planning in Navigation Situation

Abstract

In this paper a comparison of single and multi-population evolutionary algorithm is presented. Tested algorithms are used to determine close to optimal ship paths in collision avoidance situation. For this purpose a path planning problem is defined. A specific structure of the individual path and fitness function is presented. Principle of operation of single-population and multi-population evolutionary algorithm is described. Using presented algorithms the simulations on three close to real sea environments were performed. Regardless of the test situation constant time simulation was maintained. Obtained results are presented in graphical form (sequences of successive stages of the simulation) and in form of table in which the values of fitness function for best individual in each simulation were compared. Undertaken research allow to select evolutionary algorithm that, assuming constant simulation time, will determine a better path in close to real collision avoidance situation at sea.