Fig. 3 | Scientific Reports

Fig. 3

From: Improved genetic algorithm based on bi-level co-evolution for coverage path planning in irregular region

Fig. 3

The co-evolutionary process of IGA. At the chromosome level, each chromosome undergoes mutation with a certain probability. The mutated chromosome is calculated according to Eqs. (1) and (2). If the generated random number is greater than F, the chromosome does not mutate. If the generated random number is less than F, the chromosome mutates. At the individual level, individuals after formula calculation are regarded as mutated individuals, and mutated individuals form the mutated population.

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