Path Planning for Illuminance Measurement Robot Using Topological GA

Abstract

In the construction industry, labor-saving measures are desired due to the decrease in the labor force, and automation of illuminance measurement tasks is required. This study proposes a topological GA as an efficient path planning method for illuminance measurement robots. The objective is for the robot to find a near-optimal tour path in a short time among the numerous illuminance measurement points. The proposed method uses a genetic algorithm to output multiple near-optimal solutions, enabling path selection according to the situation at the site. Simulation experiments demonstrate the effectiveness of the proposed method.