Research Article
Toward Pleomorphic Reconfigurable Robots for Optimum Coverage
Algorithm 1
GA for determining Robot’s block size.
| Input: segmented metric map | | Output: | | Initialization; | | Generate initial population ; | | do | | evaluate_fitness ; | | Select best fits; | | Crossover; | | Mutation; | | while (! Stop condition); | | return best ; | | Function evaluate_fitness : | | Generate grid based on : | | Prepare occupancy grid map | | number of accessible cells; | | Compute fitness from (1) return fitness; | | End function |
|