Genetic Algorithm for Combinatorial Path Planning: The Subtour Problem

Figure 3

Given the set of targets 𝑇={𝑡₁,…,𝑡₄} and the agent 𝑎, (b) shows the augmented vertex set 𝑉={𝑣₁,…,𝑣₅}=𝑇∪𝑎, where (𝑣₅=𝑎), while (c) shows the complete graph 𝐾₅(𝑉) generated by the augmented vertex set 𝑉.

(a) Targets and agent

(b) Vertex set 𝑉=𝑇∪𝑎

(c) Complete graph 𝐾₅(𝑉)