DocumentCode :
3186178
Title :
Path generation for mobile robot navigation using genetic algorithm
Author :
Kang, Daehee ; Hashimoto, Hideki ; Harashima, Fumio
Author_Institution :
Inst. of Ind. Sci., Tokyo Univ., Japan
Volume :
1
fYear :
1995
fDate :
6-10 Nov 1995
Firstpage :
167
Abstract :
The shortest/optimal path generation is essential for the efficient operation of a mobile robot. This paper presents an algorithm for global path planning to a goal for a mobile robot in an known environment. The algorithm uses the modified quadtree data structure to make database of the environment and utilizes a genetic algorithm to generate an optimal path for the robot to move along. Actually, the genetic algorithm consists of two stages, the first (named a minor league) checks if a chromosome can reach a goal position or not, and makes the individuals evolve; only a reaching chromosome is then transferred to the second stage (called a major league) and are then evolved. Finally, the best chromosome of individuals in the second stage survives, so that the optimal/shortest path is generated. It is shown that the authors´ proposed method can find an optimal path very quickly according to simulation results
Keywords :
control system analysis; control system synthesis; genetic algorithms; mobile robots; navigation; optimal control; path planning; position control; quadtrees; chromosome; control design; control simulation; genetic algorithm; global path planning; known environment; major league; minor league; mobile robot navigation; modified quadtree data structure; optimal path generation; Biological cells; Cost function; Databases; Dynamic programming; Genetic algorithms; Legged locomotion; Mobile robots; Navigation; Path planning; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1995., Proceedings of the 1995 IEEE IECON 21st International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-3026-9
Type :
conf
DOI :
10.1109/IECON.1995.483352
Filename :
483352
Link To Document :
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