Risk reduction in autonomous local path-planning for a mobile robot with set fitness function

This paper presents Reduce risk of a genetic algorithm based path-planning algorithm for local obstacle avoidance of a mobile robot with change in fitness function. The method tries to find not only a valid path but also an optimal one. The objectives are to minimize the length of the path and the number of turns. The proposed path planning method allows use some effective parameter to define fitness function, therefore we success to reduce risk and reach optimal path.