The most important goal of path planning is to find the safest and fastest path between two points in a given environment. In this study, the path planning of a moving robot considers two objective functions: the distance to goals and the number of turning points. This research uses a Multi-Objective Optimization approach by utilizing the results of the A* algorithm to create individuals in the initial population for NSGA-II. The study utilized a 29x29 grid with various kinds of obstacles that must be avoided. The algorithm used is NSGA-II with an initial population using the path generated by the A* algorithm. The genetic operators used are two-point crossover with a probability of 0.9 and polynomial mutation with a probability of 0.01. The simulation results show that the proposed method can produce a path that has fewer turning points and the shortest possible path length. In four study case results, the NSGA-II shows a better performance in reducing the number of turning points. In study case map 1, NSGA-II produces 8 turns while A* produces 13. In study case map 2, NSGA-II produces 8 turns while A* produces 12. Study case map 3 shows significant differences, with NSGA-II producing 26 turns and A* producing 41. Study case 4 yields identical results from both algorithms.
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20 February 2025
THE 6TH INTERNATIONAL CONFERENCE OF ICE-ELINVO 2023: Digital Solutions for Sustainable and Green Development
4 October 2023
Yogyakarta, Indonesia
Research Article|
February 24 2025
Path planning as multi-objective optimization using the NSGA-II algorithm
Ariadie Chandra Nugraha;
Ariadie Chandra Nugraha
a)
1
Department of Electrical Engineering and Information Technology, Gadjah Mada University
, Yogyakarta, Indonesia
2
Department of Electrical Engineering Education, Universitas Negeri Yogyakarta
, Yogyakarta, Indonesia
a)Corresponding author: [email protected]
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Oyas Wahyunggoro;
Oyas Wahyunggoro
b)
1
Department of Electrical Engineering and Information Technology, Gadjah Mada University
, Yogyakarta, Indonesia
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Adha Imam Cahyadi
Adha Imam Cahyadi
c)
1
Department of Electrical Engineering and Information Technology, Gadjah Mada University
, Yogyakarta, Indonesia
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Ariadie Chandra Nugraha
1,2,a)
Oyas Wahyunggoro
1,b)
Adha Imam Cahyadi
1,c)
1
Department of Electrical Engineering and Information Technology, Gadjah Mada University
, Yogyakarta, Indonesia
2
Department of Electrical Engineering Education, Universitas Negeri Yogyakarta
, Yogyakarta, Indonesia
AIP Conf. Proc. 3281, 030005 (2025)
Citation
Ariadie Chandra Nugraha, Oyas Wahyunggoro, Adha Imam Cahyadi; Path planning as multi-objective optimization using the NSGA-II algorithm. AIP Conf. Proc. 20 February 2025; 3281 (1): 030005. https://doi.org/10.1063/5.0261570
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