%0 Journal Article %A Han Yu and Dan C. Marinescu and Annie S. Wu and Howard Jay Siegel %D 2008 %J International Journal of Computer and Information Engineering %B World Academy of Science, Engineering and Technology %I Open Science Index 18, 2008 %T Genetic-Based Planning with Recursive Subgoals %U https://publications.waset.org/pdf/13213 %V 18 %X In this paper, we introduce an effective strategy for subgoal division and ordering based upon recursive subgoals and combine this strategy with a genetic-based planning approach. This strategy can be applied to domains with conjunctive goals. The main idea is to recursively decompose a goal into a set of serializable subgoals and to specify a strict ordering among the subgoals. Empirical results show that the recursive subgoal strategy reduces the size of the search space and improves the quality of solutions to planning problems. %P 2269 - 2275