Path planning algorithm for mobile robot obstacle avoidance adopting Bezier curve based on Genetic Algorithm

Author

Linquan, Yang ; Luo Zhongwen ; Zhonghua, Tang ; Weixian, Lv

Author_Institution

Fac. of Inf. Eng., China Univ. of Geosci., Wuhan

fYear

2008

fDate

2-4 July 2008

Firstpage

3286

Lastpage

3289

Abstract

Combining the Genetic Algorithm and Bezier curve, a new path planning for mobile robot is presented. This path replaces the traditional broken lines with smooth Bezier curve. Therefore it can satisfy the non-holonomic constraints of two-wheel-robot model and serves also the mobile robot rather ideal acceleration. Then it searches the optimal time-cost for control points of Bezier that stands for the path with Genetic Algorithm. The fitness function of Genetic Algorithm takes 3 factors that influence the moving time of robot seriously: security, length and smoothness of the path. The results of simulation and real competitions showed its good effectiveness.

Keywords

collision avoidance; cost optimal control; genetic algorithms; mobile robots; time optimal control; control point; fitness function; genetic algorithm; mobile robot; nonholonomic constraint; obstacle avoidance; optimal time-cost; path length; path planning algorithm; path security; path smoothness; smooth Bezier curve; two-wheel-robot model; Data models; Polynomials; Bezier Curve; Genetic Algorithm; Path Planning; Robot Soccer;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2008. CCDC 2008. Chinese

Conference_Location

Yantai, Shandong

Print_ISBN

978-1-4244-1733-9

Type

conf

DOI

10.1109/CCDC.2008.4597937

Filename

4597937