Improved NSGA-II for the minimum constraint removal problem

This paper proposes a comprehensive multi-objective evaluation model to derive a feasible solution to MCR path planning that is from the robot's individual perspective, is driven by the costs and benefits, and takes into account factors such as the minimum constraint set, the route length, and the cost. The feasible solution to the MCR path is evaluated using this model. A typical multi-objective algorithm NSGA-II is applied to the MCR problem. The algorithm test and real scenario test results show that compared with single objective algorithm planning, the NSGA-II-based path planning algorithm can find a shorter path that traverses fewer obstacle areas and can thus perform the MCR path planning more effectively.