Department of Aerospace Engineering, College Station, Texas A&M University, TX 77843, USA
Copyright © 2011 Giovanni Giardini and Tamás Kalmár-Nagy. This is an open access article distributed under the
Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
The purpose of this paper is to present a combinatorial planner for autonomous systems. The approach is demonstrated
on the so-called subtour problem, a variant of the classical traveling salesman problem (TSP): given a set of possible goals/targets, the optimal strategy is sought that connects goals. The proposed solution method is a Genetic Algorithm coupled with a heuristic local search. To validate the approach, the method has been benchmarked against TSPs and subtour problems with known optimal solutions. Numerical experiments demonstrate the success
of the approach.