Title :
Path planning of mobile robot using integer GA with considering terrain conditions
Author :
Mansouri, Mohammad ; Shoorehdeli, Mehdi Aliyari ; Teshnehlab, Mohammad
Author_Institution :
Departeman of Electr. Eng., K.N. Toosi Univ. of Technol., Tehran
Abstract :
In this study integer genetic algorithm is applied for path planning of mobile robot in the grid form environment. The novel representation is proposed for definition of chromosome which reduced the computational complexity of genetic algorithm that was used before for path planning. Comparison with other encoding of chromosome is done to show the capability of proposed algorithm. Mamadani fuzzy rule is used to describe difficulty of passing from cells which are sandy or have slope.
Keywords :
computational complexity; fuzzy set theory; genetic algorithms; integer programming; mobile robots; path planning; terrain mapping; Mamadani fuzzy rule; chromosome; computational complexity; grid form environment; integer genetic algorithm; mobile robot; path planning; terrain condition; Biological cells; Computational complexity; Encoding; Fuzzy systems; Genetic algorithms; Mobile robots; Motion planning; Path planning; Process planning; Trajectory; Fuzzy system; Integer genetic algorithm; Mobile robot; Path planning; Terrain condition;
Conference_Titel :
Systems, Man and Cybernetics, 2008. SMC 2008. IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2383-5
Electronic_ISBN :
1062-922X
DOI :
10.1109/ICSMC.2008.4811276
