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

fYear

2008

fDate

12-15 Oct. 2008

Firstpage

208

Lastpage

213

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2008. SMC 2008. IEEE International Conference on

Conference_Location

Singapore

ISSN

1062-922X

Print_ISBN

978-1-4244-2383-5

Electronic_ISBN

1062-922X

Type

conf

DOI

10.1109/ICSMC.2008.4811276

Filename

4811276