Robot path planning in FA by the scrap and build fitness method

This study deals with automatic robot path generation using a Lisp program, which enables the robot to visits several points in an automated factory premise. In order to do this, the genetic algorithm (GA) search method including the scrap and build fitness method is proposed. As an application example, a robot path that leads to four kinds of machine tools in the factory is adopted. A Lisp program that achieves a cycle path is presented. This research provides a basic study for establishing a practical GA search method