mae-global-planner

Ros planner package for the efficient visit of N targets using K agents.

Algorithm

Kmeans clustering is used to split the targets between the agents.

Each of the K Agents solves the Traveling Salesman problem using a genetic algorithm with the following operators

• Tournament Selection.
• Mutation.
• 2-opt Heuristic.
• Elitisism.
• Social disaster.

Results