Integer GA for mobile robot path planning with using another GA as repairing function

In this study integer genetic algorithm is applied for path planning of mobile robot in the grid form environment. The novel representation is proposed for definition of chromosome which reduced the computational complexity of genetic algorithm which was used before for path planning. Comparison with other encoding of chromosome is done to show the capability of proposed algorithm. Another genetic algorithm is used to repair some paths which collide with obstacles. Mamadani fuzzy rule is used to describe difficulty of passing from cells which are sandy or have slope.