Fitness function scaling in the evolutionary method of path planning

The article analyses the impact of fitness function scaling on the quality of the solution to the problem of planning the path for a moving object using the evolutionary method. The function scaling decreases the selective pressure, which facilitates leaving the local optimum in the calculation process and further exploration of the solution space. The performed investigations have proved that the use of scaling in the evolutionary path planning method makes it possible to preserve the diversity of solutions by a larger number of generations in the exploration phase. The problem of avoiding collisions at sea was selected as the test case. The modelled environment includes static constraints (lands, canals, etc.) and dynamic objects (moving ships).